Observer-Based Time-Varying Formation Control of Fractional-Order Multi-Agent Systems With General Linear Dynamics

Gong, Yufei; Wen, Guoguang; Peng, Zhaoxia; Huang, Tingwen; Chen, Yiwen

doi:10.1109/tcsii.2019.2899063

Cited by 59 publications

(29 citation statements)

References 19 publications

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“…Besides, the target's uncertain maneuvers was also not considered. Variety of advanced formation control approaches of UAVs and mobile robots have been proposed from a theoretical perspective [13]- [15], but verifying the theory through real-world robotic systems still remains as a challenge.…”

Section: Robot Formation Bee Colonymentioning

confidence: 99%

Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Hu¹,

Turgut

Lennox³

et al. 2022

IEEE Trans. Circuits Syst. II

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Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strategy for networked robot swarms subjected to nonlinear dynamics and unknown disturbances. Firstly, a robust adaptive formation coordination protocol is proposed for robot swarms, which utilizes only local information for tracking a dynamic target with uncertain maneuvers. A rigorous theoretical proof utilizing the Lyapunov stability approach is then provided to guarantee the control performance. Towards the end, real-time hardware experiments with wheeled mobile robots are conducted to validate the robustness and feasibility of the proposed formation coordination approach.

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Section: Robot Formation Bee Colonymentioning

confidence: 99%

Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Hu¹,

Turgut

Lennox³

et al. 2022

IEEE Trans. Circuits Syst. II

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“…where E(s) and e(0) denote the column vectors of E i (s) and e i (0) respectively. From (8), it can be calculated that…”

Section: Case Without Input Delaysmentioning

confidence: 99%

“…Until now, the study of consensus problem for MASs has made great achievements. For example, different kinds of control algorithms have been designed to achieve the consensus, such as event-triggered control [5,6], adaptive control [3,7], and observer-based control [8]. On the other hand, few different constraints have been taken into account due to different working environment, such as the time delay [9][10][11][12], parameter uncertainty [13,14], external disturbances [5].…”

Section: Introductionmentioning

confidence: 99%

Leader‐following consensus of heterogenous fractional‐order multi‐agent systems under input delays

Wen

Rahmani

et al. 2019

Asian Journal of Control

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In this paper, over fixed directed communication graph, the leader-following consensus of heterogenous fractional-order multi-agent systems (HFOMASs) is investigated with respect to input delays, where the fractional orders between leader and followers are heterogenous, which is more general. Firstly, a control algorithm with a fractional-order estimator is proposed to guarantee the leader-following consensus of the HFOMASs. Then, the identical input delays are taken into account in the above control algorithm, and the leader-following consensus of the HFOMASs can be achieved under the derived sufficient and necessary condition. Thirdly, the diverse input delays are further considered in the HFOMASs, and a sufficient condition is put forward under the designed control algorithm. Finally, simulations are conducted to make the results be convinced.

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“…A necessary and sufficient condition was obtained for the formation of discrete-time multi-agent systems with one sample period delay in [7]. In [15], time-varying formation control problem for fractionalorder linear multi-agent systems was addressed.…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Control for Guaranteed-Cost Bipartite Formation of Multi-Agent Systems

2022

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This paper is concerned with event-triggered guaranteed-cost bipartite formation control of multi-agent systems with antagonistic interactions. In order to save the limited network communication bandwidth of multi-agent systems, event-triggered sampled-data transmission strategy is adopted. Event conditions are designed for both leader and followers to reduce the frequency of state transmission more effectively. According to the event-triggered sampled-data of the leader and followers, bipartite formation controllers are designed for followers. By using the event conditions and the Lyapunov method, the sufficient conditions for the realization of bipartite formation and guaranteed-cost bipartite formation are obtained in terms of linear matrix inequality, respectively. Finally, the effectiveness of the theoretical results is demonstrated by numerical examples.INDEX TERMS Multi-agent systems, guaranteed-cost, bipartite formation, antagonistic interactions, event-triggered sampling.

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Observer-Based Time-Varying Formation Control of Fractional-Order Multi-Agent Systems With General Linear Dynamics

Cited by 59 publications

References 19 publications

Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Leader‐following consensus of heterogenous fractional‐order multi‐agent systems under input delays

Event-Triggered Control for Guaranteed-Cost Bipartite Formation of Multi-Agent Systems

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