2020
DOI: 10.1109/access.2020.2975008
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Multi-Agent Trajectory-Tracking Flexible Formation via Generalized Flocking and Leader-Average Sliding Mode Control

Abstract: This paper reports a flexible (or time-varying) multi-agent formation approach with average trajectory tracking for second-order integral multi-agent networks with single virtual leaders. The approach is developed by means of time-varying Olfati-Saber flocking algorithms, and sliding mode control (SMC) in terms of the leader-average dynamics. More precisely, SMC-specifying average trajectory tracking is combined with flexible multi-agent flocking driven by the Olfati-Saber flocking algorithms with timevarying … Show more

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Cited by 12 publications
(6 citation statements)
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“…Thirdly, when the formation executes different tasks, the distance between formation members and formation structure should be changed according to needs. At present, the formation structure mainly includes horizontal formation, vertical formation, wedge, and diamond [27][28][29]. Considering the small volume of agent used in this study, the aerodynamic impact between agents is large during low altitude flight, and the aerodynamic interference will directly affect and change the forces on aircraft at different positions of the formation.…”
Section: The Design Of Hybrid Hierarchical Distributed Formation Stru...mentioning
confidence: 99%
“…Thirdly, when the formation executes different tasks, the distance between formation members and formation structure should be changed according to needs. At present, the formation structure mainly includes horizontal formation, vertical formation, wedge, and diamond [27][28][29]. Considering the small volume of agent used in this study, the aerodynamic impact between agents is large during low altitude flight, and the aerodynamic interference will directly affect and change the forces on aircraft at different positions of the formation.…”
Section: The Design Of Hybrid Hierarchical Distributed Formation Stru...mentioning
confidence: 99%
“…It is noted that eorem 1 proposed a delaydependent sufficient condition of stability for the sliding surfaces (9) based on the LMIs ( 16). e error function (12) with time-varying communication delay will converge to zero as t ⟶ ∞. Also, the allowable bound of time-varying delays can be obtained.…”
mentioning
confidence: 94%
“…Cooperative control of multiagent systems has attracted much attention in recent years, such as consensus [1][2][3][4], formation [5][6][7][8], and flocking problems [9][10][11][12]. e solving of the consensus problem is an essential and interesting topic of cooperative multiagent research.…”
Section: Introductionmentioning
confidence: 99%
“…There are many researchers successfully using the SMC to enhance the performance of Tracking Control (TC) for practical applications [13]. Solving the formation problem of NMASs, some SMC approaches have been developed [14]. However, the SMC inputs consist of nonlinear form, which will increase the difficulties in the controller design of practical systems.…”
Section: Introductionmentioning
confidence: 99%