Sign rigidity theory and application to formation specification control

Kwon, Seong-Ho; Sun, Zhiyong; Anderson, Brian D. O.; Ahn, Hyo‐Sung

doi:10.1016/j.automatica.2022.110291

Cited by 9 publications

(2 citation statements)

References 47 publications

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“…Another development of bearing rigidity theory considering the difference in the reference system, also known as the rigidity theory in SE(d), was developed in [20], [21], [22], [23]. Recently, the angle rigidity theory has also been proposed by different research groups, typically the works [24], [25], [26], [27]. Moreover, research on robust control for multi-agent systems mainly focuses on the consensus or displacement-based formation control problems [28], [29], while controlling formation with disturbances based on the distances and bearing vectors is of little concern.…”

Section: Introductionmentioning

confidence: 99%

Aquaculture systems in Hanoi, Vietnam.

Nguyen¹

2020

Preprint

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Hanoi, the capital of Vietnam, is one of the most densely populated areas in the world, with about 3,000 people km-2. Traditionally, aquaculture is practiced in ponds, reservoirs and urban lakes, rice fields, wastewater and VAC [an acronym from the Vietnamese words for garden (vuon), pond (ao) and livestock quarters (chuong)] systems. With over 5,000 ha of surface area and 3,000 ha of lowland rice fields, Hanoi has potential for further aquaculture development and tourism-entertainment services. The importance of aquaculture has long been recognized as a source of income and employment. Nowadays, pond aquaculture in peri-urban areas is decreasing due to urbanization, while in areas far from the city it is increasing through the conversion of lowland rice fields to fish ponds.

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Section: Introductionmentioning

confidence: 99%

Aquaculture systems in Hanoi, Vietnam.

Nguyen¹

2020

Preprint

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“…To fulfill the objective of consensus for MASs, various methods were designed that attuned to interactive information among the agents. A sign rigidity theory was introduced in [5], where a distributed consensus algorithm based on displacement and distance was designed to achieve formation control in two-dimensional space. Additionally, incorporating area constraints helped eliminate formation specification singularities.…”

Section: Introductionmentioning

confidence: 99%

Distributed Fixed-Time Leader-Following Consensus for Multi-Agent Systems: An Event-Triggered Mechanism

Ge,

Ma,

2024

Actuators

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In this work, a fixed-time leader-following event-triggered (ET) consensus problem for multi-agent systems (MASs) with external disturbances is investigated. A distributed observer is developed to achieve the estimated state of the leader. By means of the observation information, the consensus error system for multi-agents is reformulated into a tracking error system, wherein individual follower agent aims to track the leader agent. Building upon Lyapunov technology and fixed-time stability theory, a new ET protocol is introduced to mitigate communication wastes. Notably, the proposed controller incorporates a strong robust fixed-time control form with lower complexity, and a reliable dynamic triggering condition also ensures the excellent performance of the system. Rigorous demonstrations underscore the stability and robustness of the ET method, while guaranteeing the avoidance of Zeno behavior. Finally, several numerical simulations are provided to underscore the efficacy of the proposed protocols.

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