Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Wang, Le; Xi, Jianxiang; He, Ming; Liu, Guangbin

doi:10.1002/rnc.4941

Cited by 107 publications

(97 citation statements)

References 38 publications

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“…It reveals that the ASMC has a better tracking performance than the LQR or the ADRC in terms of the MAE. Future research will investigate the formation control of the quadrotor UAVs using a multiagent system approach [43][44][45].…”

Section: Resultsmentioning

confidence: 99%

“…Parallel to the way in designing the control and adaptive laws for the altitude and roll channels, the controller design for the pitch and yaw channels can be derived similarly and given in the following: Complexity It is worth mentioning that since the signum functions are involved in the controllers, chattering phenomenon could be serious when the proposed ASMC laws (22), (34), (44), and (46) are applied in the quadrotor UAV system. To resolve this, saturation functions are used to replace the signum functions in all four channels [40].…”

Section: Complexitymentioning

confidence: 99%

“…, 4 accordingly. Figure 5 shows the time responses of the LQR, the ADRC, and the proposed ASMC (22), (34), (44), and (46) with saturation function. Since the chattering phenomenon is greatly suppressed, the proposed controller can be easily applied in a real quadrotor UAV system.…”

Section: Simulation and Experimental Testsmentioning

confidence: 99%

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Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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In this paper, a robust adaptive sliding mode control scheme is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system under the simultaneous effect of parametric uncertainties and consistent external disturbance. The underactuated dynamic model of the quadrotor UAV is first built via the Newton–Euler formalism. Considering the nonlinear and strongly coupled characteristics of the quadrotor, the controller is then designed using a sliding mode approach. Meanwhile, additional adaptive laws are proposed to further improve the robustness of the proposed control scheme against the parametric uncertainties of the system. It is proven that the control laws can eliminate the altitude and attitude tracking errors, which are guaranteed to converge to zero asymptotically, even under a strong external disturbance. Finally, numerical simulation and experimental tests are performed, respectively, to verify the effectiveness and robustness of the proposed controller, where its superiority to linear quadratic control and active disturbance rejection control has been demonstrated clearly.

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Section: Resultsmentioning

confidence: 99%

Section: Complexitymentioning

confidence: 99%

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Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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“…Remark 2: This paper considers the multi-target rotating encirclement formation problem in two-dimension space, and all agents' rotating centers are required to locate in the targets' geometric center. Different from other general consensus problems of multi-agent systems [34]- [36], the consensus problem of this paper may be more complicated since the relative position between every two agents changes all the time and the velocity of each agent varies periodically. In addition, it is too cumbersome to indicate the rotating center of each agent only using the position and velocity information.…”

Section: Preliminaries and Problem Description A Graph Theorymentioning

confidence: 99%

Distributed Multi-Target Rotating Encirclement Control of Second-Order Multi-Agent Systems With Nonconvex Input Constraints

Zhang

Ling

2020

IEEE Access

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This paper investigates the collective multi-target rotating encirclement formation problem of second-order multi-agent systems, where the inputs are constrained in nonconvex sets. The objective requires that all agents rotate around targets' geometric center with the desired radius and angular velocity. Firstly, the targets' geometric center and rotating radius are calculated by two distributed fixed-time estimators based on the neighbors' information. Then, with the complex domain theory, we construct two consensus vectors complying with the conditions of the multi-target rotating encirclement formation, and propose a distributed multi-target rotating encirclement control scheme to force all agents achieve the desired formation structure. Moreover, a sufficient condition is provided for choosing design parameters with the aid of Lyapunov theory. In order to handle the problem caused by the nonconvex input constraints, a constraint operator is introduced to ensure all control inputs always lie in the corresponding nonconvex sets. Finally, numerical simulation results are presented to demonstrate the effectiveness and correctness of our theoretical control scheme. INDEX TERMS Rotating encirclement control, nonconvex input constraints, distributed estimator, second-order multi-agent systems.

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“…For example, the controllability [3][4][5][6][7][8][9][10][11] and the consensus problem [12][13][14][15][16][17][18][19] are widely studied in multi-agent systems. Among them, as the basic problem of multi-agent cooperative control, consensus is widely used in formation control [20], cluster control, sensor network and other aspects, which is a research hot issue in the control discipline at present.…”

Section: Introductionmentioning

confidence: 99%

Event-Based Consensus for General Linear Multiagent Systems under Switching Topologies

Sun

Liu

2020

Complexity

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In this paper, event-triggered leader-following consensus of general linear multiagent systems under both fixed topology and switching topologies is studied. First, centralised and decentralised event-triggered control strategies based on neighbors' state estimation are proposed under fixed topology, in which the controller is only updated at the time of triggering. Obviously, compared with the continuous time control algorithms, the event-triggered control strategies can reduce the communication frequency among agents effectively. Meanwhile, event-triggering conditions are derived for systems to achieve consensus by using the Lyapunov stability theory and model transformation method. en, the theoretical results obtained under the fixed topology are extended to the switching topologies, and the sufficient conditions for the system to achieve leader-following consensus under the switching topologies are given. However, different from fixed topology, the control input of each agent is updated both at event-triggering and topology switching time. Finally, Zeno behaviors can be excluded by proving that the minimum triggering interval of each agent is strictly positive, and the effectiveness of the event-triggered protocol is verified by simulation experiments.

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Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Cited by 107 publications

References 38 publications

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Distributed Multi-Target Rotating Encirclement Control of Second-Order Multi-Agent Systems With Nonconvex Input Constraints

Event-Based Consensus for General Linear Multiagent Systems under Switching Topologies

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