Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics

Li, Weixun; Chen, Zengqiang; Liu, Zhongxin

doi:10.1007/s11071-013-0754-6

Cited by 114 publications

(52 citation statements)

References 16 publications

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“…The dynamical model considered for each agent (1) is more general than many considered in the literature. [46][47][48] For example, certain UAVs, 49,50 autonomous mobile robots, 51 spacecrafts, 52 and autonomous vehicles 53 can be analyzed and discussed using (1).…”

Section: Problem Formulationmentioning

confidence: 99%

Nonrepetitive trajectory tracking for nonlinear autonomous agents with asymmetric output constraints using parametric iterative learning control

Jin

2019

Intl J Robust & Nonlinear

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Summary In this paper, we present a novel parametric iterative learning control (ILC) algorithm to deal with trajectory tracking problems for a class of nonlinear autonomous agents that are subject to actuator faults. Unlike most of the ILC literature, the desired trajectories in this work can be iteration dependent, and the initial position of the agent in each iteration can be random. Both parametric and nonparametric system unknowns and uncertainties, in particular the control input gain functions that are not fully known, are considered. A new type of universal barrier functions is proposed to guarantee the satisfaction of asymmetric constraint requirements, feasibility of the controller, and prescribed tracking performance. We show that under the proposed algorithm, the distance and angle tracking errors can uniformly converge to an arbitrarily small positive number and zero, respectively, over the iteration domain, beyond a small user‐prescribed initial time interval in each iteration. A numerical simulation is presented in the end to demonstrate the efficacy of the proposed algorithm.

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Section: Problem Formulationmentioning

confidence: 99%

Nonrepetitive trajectory tracking for nonlinear autonomous agents with asymmetric output constraints using parametric iterative learning control

Jin

2019

Intl J Robust & Nonlinear

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“…Hence, some interesting research results have been reported for nonlinear multiagent systems recently. For instance, the leader‐following formation control was considered for second‐order multiagent systems with time‐varying delay and nonlinear dynamics in the work of Li et al, and 2 nonsmooth leader‐following formation protocols for nonidentical Lipschitz nonlinear multiagent systems were proposed in the work of Lü et al…”

Section: Introductionmentioning

confidence: 99%

Formation control for a class of nonlinear multiagent systems using model‐free adaptive iterative learning

Cui

Hou

et al. 2017

Intl J Robust & Nonlinear

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Summary In this paper, the problem of formation control is considered for a class of unknown nonaffine nonlinear multiagent systems under a repeatable operation environment. To achieve the formation objective, the unknown nonlinear agent's dynamic is first transformed into a compact form dynamic linearization model along the iteration axis. Then, a distributed model‐free adaptive iterative learning control scheme is designed to ensure that all agents can keep their desired deviations from the reference trajectory over the whole time interval. The main results are given for the multiagent systems with fixed communication topologies and the extension to the switching topologies case is also discussed. The feature of this design is that formation control can be solved only depending on the input/output data of each agent. An example is given to demonstrate the effectiveness of the proposed method.

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“…To our knowledge, previous works focusing on this topic are usually established based on the assumption that the vehicle can be treated as a 5 single integrator [1,2,3] or double integrators [4,5,6,7]. In these systems, the behavior of so-called leader is independent of all the followers, while the followers can be affected by the leader directly or indirectly [8,9,10].…”

Section: Introductionmentioning

confidence: 99%

Leader-following consensus of multi-agent system with a smart leader

Liu

Chen

2016

Neurocomputing

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Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics

Cited by 114 publications

References 16 publications

Nonrepetitive trajectory tracking for nonlinear autonomous agents with asymmetric output constraints using parametric iterative learning control

Nonrepetitive trajectory tracking for nonlinear autonomous agents with asymmetric output constraints using parametric iterative learning control

Formation control for a class of nonlinear multiagent systems using model‐free adaptive iterative learning

Leader-following consensus of multi-agent system with a smart leader

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