Journal ArticleDOI
Distributed Containment Control with Multiple Dynamic Leaders for Double-Integrator Dynamics Using Only Position Measurements
Jianzhen Li,Wei Ren,Shengyuan Xu +2 more
TLDR
Analysis of the distributed containment control problem for a group of autonomous vehicles modeled by double-integrator dynamics with multiple dynamic leaders shows that the followers will move into the convex hull spanned by the dynamic leaders if the network topology among the followers is undirected.Abstract:
This note studies the distributed containment control problem for a group of autonomous vehicles modeled by double-integrator dynamics with multiple dynamic leaders. The objective is to drive the followers into the convex hull spanned by the dynamic leaders under the constraints that the velocities and the accelerations of both the leaders and the followers are not available, the leaders are neighbors of only a subset of the followers, and the followers have only local interaction. Two containment control algorithms via only position measurements of the agents are proposed. Theoretical analysis shows that the followers will move into the convex hull spanned by the dynamic leaders if the network topology among the followers is undirected, for each follower there exists at least one leader that has a directed path to the follower, and the parameters in the algorithm are properly chosen. Numerical results are provided to illustrate the theoretical results.read more
Citations
More filters
Journal ArticleDOI
Containment of Higher-Order Multi-Leader Multi-Agent Systems: A Dynamic Output Approach
TL;DR: A new class of distributed observer-type containment protocols based only on the relative output measurements of the neighboring agents is proposed, removing the impractical assumption in some of the existing approaches that the observers embedded in the multiple dynamic agents have to share information with their neighbors.
Journal ArticleDOI
Distributed adaptive containment control of uncertain nonlinear multi-agent systems in strict-feedback form☆
TL;DR: This paper presents a distributed containment control approach for uncertain nonlinear strict-feedback systems with multiple dynamic leaders under a directed graph topology where the leaders are neighbors of only a subset of the followers.
Journal ArticleDOI
Distributed Containment Maneuvering of Multiple Marine Vessels via Neurodynamics-Based Output Feedback
Zhouhua Peng,Jun Wang,Dan Wang +2 more
TL;DR: A neurodynamics-based output feedback scheme is proposed for distributed containment maneuvering of marine vessels guided by multiple parameterized paths without using velocity measurements to recover unmeasured velocity information as well as to identify unknown vessel dynamics.
Journal ArticleDOI
Overview: Collective Control of Multiagent Systems
TL;DR: Within this framework, the development on this topic is systematically reviewed and the representative outcomes can be sorted out from four aspects: 1) agent dynamics; 2) network topologies; 3) feedback and communication mechanisms; 4) collective behaviors.
Journal ArticleDOI
Distributed coordination for second-order multi-agent systems with nonlinear dynamics using only relative position measurements
Jie Mei,Wei Ren,Guangfu Ma +2 more
TL;DR: This paper derives a necessary and sufficient condition for the leaderless consensus problem under a general directed graph and introduces a distributed filter for each agent or follower to show the effectiveness of the proposed control algorithms.
References
More filters
Book
Differential Equations with Discontinuous Righthand Sides
TL;DR: The kind and level of sophistication of mathematics applied in various sciences has changed drastically in recent years: measure theory is used (non-trivially) in regional and theoretical economics, algebraic geometry interacts with physics, and such new emerging subdisciplines as "experimental mathematics", "CFD", "completely integrable systems", "chaos, synergetics and large-scale order", which are almost impossible to fit into the existing classification schemes.
BookDOI
Distributed Consensus in Multi-vehicle Cooperative Control
Wei Ren,Randal W. Beard +1 more
TL;DR: In this article, the authors present a survey of the use of consensus algorithms in multi-vehicle cooperative control, including single-and double-integrator dynamical systems, rigid-body attitude dynamics, rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.
Journal ArticleDOI
Technical communique: Distributed observers design for leader-following control of multi-agent networks
TL;DR: In this article, a leader-follower problem for a multi-agent system with a switching interconnection topology is considered, where the second-order follower agents follow the leader.
Posted Content
Distributed Observers Design for Leader-Following Control of Multi-Agent Networks (Extended Version)
TL;DR: It is proved that each agent can follow the active leader of a multi-agent system with a switching interconnection topology with an explicitly constructed common Lyapunov function (CLF).
Journal ArticleDOI
Brief paper: Finite-time formation control for multi-agent systems
TL;DR: This paper proposes a class of nonlinear consensus protocols, which ensures that the related states of all agents will reach an agreement in a finite time under suitable conditions, and applies these protocols to the formation control, including time-invariant formation, time-varying formation and trajectory tracking.
Related Papers (5)
Brief paper: Distributed finite-time attitude containment control for multiple rigid bodies
Ziyang Meng,Wei Ren,Zheng You +2 more
Consensus problems in networks of agents with switching topology and time-delays
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more