Prescribed-time distributed formation control for a class of nonlinear multi-agent systems subject to internal uncertainties and external disturbances

Jiang, Yunbiao; Liu, Zhongxin; Chen, Zengqiang

doi:10.1007/s11071-022-07909-2

Cited by 10 publications

(5 citation statements)

References 36 publications

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“…Remark 2. It should be pointed out that the controller designed in (17) is just confined to four parameters, that is k 1 , k 2 , l 1 , β. On one hand, compared with [40], the controller relies on fewer parameters and is more convenient in practical applications.…”

Section: Resultsmentioning

confidence: 99%

“…On one hand, compared with [40], the controller relies on fewer parameters and is more convenient in practical applications. On the other hand, controller (17) is proposed by the backstepping method, which can be extended to adaptive fixed-time consensus controller and deal with communication disturbances. ) , under the Assumptions 1 and 2, assume that the network topology of MASs (8) is strongly connected, then the FixF of MASs (8) can be achieved under control protocol (17…”

Section: Resultsmentioning

confidence: 99%

“…Besides, ψ k is bounded by noting that φk = ψ k . By the expression of control input (17), it is known that the control input u(t) is globally bounded. Remark 4.…”

Section: Proof Consider the Lyapunov Function Candidatementioning

confidence: 99%

See 2 more Smart Citations

Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance

2023

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In this paper, we study the fixed-time formation (FixF) control problem for the nonlinear second-order multi-agent systems (MASs) with directed graph, where all agents are subject to communication disturbances. To overcome the bounded disturbance of communication and to guarantee the realization of predesignated formation within a fixed-time, a suitable FixF control protocol based on the backstepping method is proposed. Furthermore, to eliminate the dependence of the control parameters on global information, a new adaptive FixF control protocol is provided to combine with some mild conditions of control gain such that the formation with acceptable bounded error of MASs can be achieved within a fixed-time. Finally, the theoretical results are verified by two simulation examples, one of the simulation examples is that we set the desired formation as a regular octagon and the desired formation motion trajectory as a circle, the results show that all agents can form formation motion within a fixed-time.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

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Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance

2023

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“…where d = d − d, and combine Eqs. ( 20), (32), and (35). We can express the time derivative of V 3 as follows:…”

Section: Orientation Angle Controller Designmentioning

confidence: 99%

Graph-Guided Adaptive Formation Control with Prescribed Performance Enhanced by Neural Network-Based Backstepping

Xie,

Liang,

Chien

2024

Preprint

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This research addresses the formidable challenge of achieving precise trajectory tracking for autonomous vehicle formations in uncertain environments. It introduces an adaptive control system tailored for autonomous vehicles, with a primary focus on ensuring prescribed performance in trajectory tracking within a leader-follower formation paradigm. The system incorporates a guidance law that allows the leader vehicle to dynamically adjust desired yaw angles and speeds for follower vehicles based on the established reference trajectory, enhancing tracking accuracy and responsiveness to environmental changes. To address practical external disturbances, the study utilizes Radial Basis Function Neural Networks (RBFNN) in conjunction with second-order filters for error approximation. This approach is further strengthened by a carefully formulated adaptive law. The innovative integration of a barrier Lyapunov function with the backstepping method significantly enhances the system’s adaptability and robustness, ensuring trajectory tracking performance meets predetermined standards. Simulation results illustrate the control system’s adept handling of various external disturbances, consistently maintaining trajectory tracking errors within predefined limits. This underscores the system’s potential to markedly enhance the operational reliability and efficiency of autonomous vehicle formations in unpredictable environmental conditions.

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“…Meanwhile, due to the uncertainty caused by the unreliability of sensors, such as sensor failures and noise interference, the data collected by some sensors may be incorrect, leading to the possibility of making wrong decisions [ 11 ]. Similarly, in practical application of other fields, information uncertainties are also inevitable [ 12 , 13 ]. How to deal with these uncertainties or achieve information fusion is an important issue in information processing [ 14 , 15 ].…”

Section: Introductionmentioning

confidence: 99%

A New Correlation Measure for Belief Functions and Their Application in Data Fusion

Zhang

Wang

Zhang³

et al. 2023

Entropy

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Measuring the correlation between belief functions is an important issue in Dempster–Shafer theory. From the perspective of uncertainty, analyzing the correlation may provide a more comprehensive reference for uncertain information processing. However, existing studies about correlation have not combined it with uncertainty. In order to address the problem, this paper proposes a new correlation measure based on belief entropy and relative entropy, named a belief correlation measure. This measure takes into account the influence of information uncertainty on their relevance, which can provide a more comprehensive measure for quantifying the correlation between belief functions. Meanwhile, the belief correlation measure has the mathematical properties of probabilistic consistency, non-negativity, non-degeneracy, boundedness, orthogonality, and symmetry. Furthermore, based on the belief correlation measure, an information fusion method is proposed. It introduces the objective weight and subjective weight to assess the credibility and usability of belief functions, thus providing a more comprehensive measurement for each piece of evidence. Numerical examples and application cases in multi-source data fusion demonstrate that the proposed method is effective.

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Prescribed-time distributed formation control for a class of nonlinear multi-agent systems subject to internal uncertainties and external disturbances

Cited by 10 publications

References 36 publications

Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance

Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance

Graph-Guided Adaptive Formation Control with Prescribed Performance Enhanced by Neural Network-Based Backstepping

A New Correlation Measure for Belief Functions and Their Application in Data Fusion

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