Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying

Dong, Xiwang; Zhou, Yan; Zhang, Ren; Zhong, Yisheng

doi:10.1109/tie.2016.2593656

Cited by 667 publications

(360 citation statements)

References 44 publications

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“…Consider the quadrotor system described by (4), and the formation is given by . If the communication topology contains a spanning tree, then by the event-based controller (9) and attitude controller (29) on SO(3), the quadrotors will converge to the desired formation; that is, lim →∞ ‖ ‖ = Δ, where Δ = 2 √ 2‖ ‖ 1 /( 0 − 2√2 0 max ‖ ‖).…”

Section: Stability Analysis Of the Event-based Formation Control Systemmentioning

confidence: 99%

“…To illustrate the efficiency of the event-based control method, two time-driven methods [9,11] are conducted for comparison. A continuous-time controller is used in [9], and in [11] the controller is developed on the Euler angle model.…”

Section: Simulationmentioning

confidence: 99%

“…As a representative approach, formation control problem in several works [8][9][10] is studied through kinematics. That is, the quadrotor is considered as a point, and its model is double integrators with position and velocity.…”

Section: Introductionmentioning

confidence: 99%

“…That is, the quadrotor is considered as a point, and its model is double integrators with position and velocity. The quadrotors formation is studied in [9] through the second-order multiagent system. Similar model is adopted in [10], and the consensus protocol is used for formation.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Dong

Mingyu

Wang

et al. 2018

Mathematical Problems in Engineering

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This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO(3). By designing the trigger function, certain events are generated for each quadrotor. Then, the formation controller is driven to update its parameters according to the events. The attitude controller on SO(3) is designed for tracking of the command and stabilization. By the proposed method continuous communication is not required between quadrotors, and it is proved that the quadrotors could achieve the desired formation. Simulation illustrates that the proposed event-based formation control method is effective.

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Section: Stability Analysis Of the Event-based Formation Control Systemmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Dong

Mingyu

Wang

et al. 2018

Mathematical Problems in Engineering

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“…Inspired by the potential applications in engineering, such as networked autonomous vehicles, sensor networks [1], and formation control [2], distributed coordination of multiagent systems has attracted much attention from researchers [3,4]. Very recently, consensus problems have been studied extensively as well as references therein [5,6].…”

Section: Introductionmentioning

confidence: 99%

Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

Wang

Zhou

2017

Discrete Dynamics in Nature and Society

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Distributed discrete-time coordinated tracking control problem is investigated for multiagent systems in the ideal case, where agents with a fixed graph combine with a leader-following group, aiming to expand the function of the traditional one in some scenes. The modified union switching topology is derived from a set of Markov chains to the edges by introducing a novel mapping. The issue on how to guarantee all the agents tracking the leader is solved through a PD-like consensus algorithm. The available sampling period and the feasible control gain are calculated in terms of the trigonometric function theory, and the mean-square bound of tracking errors is provided finally. Simulation example is presented to demonstrate the validity of the theoretical results.

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Distributed event‐triggered tracking consensus control for privacy preservation in multi‐agent systems with denial‐of‐service attacks

Xue

Pan

2022

Adaptive Control & Signal

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This article investigates the distributed tracking consensus control problem based on event-triggered strategy for privacy preservation in nonlinear multi-agent systems which suffer from denial-of-service (DoS) attacks. To address the insecurity of information exposure in the distributed control strategy, the method of privacy preservation for initial information is developed by relying on output maps as masks. Due to the existence of nonlinear dynamics, the neural networks are introduced to deal with unknown nonlinear functions. Then, an event-triggered communication strategy based on the exponential time-varying vector is provided to regulate the information transmission under the situation of DoS attacks. Subsequently, combining the proposed event-triggered strategy, an asynchronous update control scheme is structured to reduce the effect of DoS attacks. It is demonstrated that the tracking consensus can be achieved by utilizing the Lyapunov function and the induction method. Finally, the feasibility of the proposed control method is demonstrated by a simulation example.

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Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying

Cited by 667 publications

References 44 publications

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

Distributed event‐triggered tracking consensus control for privacy preservation in multi‐agent systems with denial‐of‐service attacks

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