Posted Content•
Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version).
17 Nov 2019-
TL;DR: It is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes, which is likely to happen in conventional distance-based formation control methods.
Abstract: This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors. As an extension to the proposed scheme, distance-based formation centroid maneuvering is also studied for disturbance-free agents, in which the formation centroid tracks a desired time-varying velocity. The proposed control laws are decentralized, in the sense that each agent employs local relative information regarding its neighbors to calculate its control signal. Therefore, the control scheme is implementable on the agents' local coordinate frames. Using rigid graph theory, input-to-state stability, and Lyapunov based analysis, the results are established for minimally and infinitesimally rigid formations in 2-D or 3-D space. Furthermore, it is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes, which is likely to happen in conventional distance-based formation control methods. Finally, extensive simulation studies clarify and verify the proposed approach.
Citations
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TL;DR: In this paper, the authors presented a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances, in which connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors.
68 citations
01 Apr 2021
TL;DR: This letter proposes distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances to study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances.
Abstract: In this letter, we study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances We propose distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances The stability of the systems under the proposed control laws is analyzed based on Lyapunov stability theory of nonsmooth systems and Barbalat’s lemma Further, sufficient conditions are given to ensure the system to approach the set of desired formation Finally, simulation results are provided to support the analysis
28 citations
Cites background from "Prescribed Performance Distance-Bas..."
...In [15], a control law is designed for single-integrator agents based on several prescribed performance bounds....
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TL;DR: In this paper , a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory is proposed, which applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph.
20 citations
13 Oct 2020
TL;DR: Distributed control laws are proposed for follower agents to maintain the desired formation shape and move at the leaders’ velocity in finite time.
Abstract: This paper studies a distance-based formation tracking problem in the d-dimensional space. The formation has a directed acyclic leader-following structure with d leaders moving at a same unknown bounded velocity. Distributed control laws are proposed for follower agents to maintain the desired formation shape and move at the leaders’ velocity in finite time. Simulation results are also provided to support the theoretical analysis.
10 citations
Cites background from "Prescribed Performance Distance-Bas..."
...Finally, formation control with bounded disturbances has been also recently studied in [15, 16]....
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DOI•
TL;DR: In this paper, a predictive control strategy is developed to realize the coordination of HOFA-MASs and simultaneous stability and output consensus, where a Diophantine equation is introduced to construct an incremental HOFA prediction model rather than a reduced-order one, then a cost function focused on coordinated relationship is minimized by the design of predictive control such that the optimal coordination controllers can be achieved with simple and easy computation.
Abstract: This research is devoted to the coordinated control of high-order fully actuated multiagent systems (HOFA-MASs). A predictive control strategy is developed to realize the coordination of HOFA-MASs and simultaneous stability and output consensus. In this strategy, a Diophantine equation is introduced to construct an incremental HOFA prediction model rather than a reduced-order one, then a cost function focused on coordinated relationship is minimized by the design of predictive control such that the optimal coordination controllers can be achieved with simple and easy computation. Further discussion derives a simple criterion to guarantee the simultaneous stability and output consensus of the closed-loop HOFA-MASs. Two experiments of formation control of three air-bearing simulators are given to demonstrate the availability of the predictive control strategy.
9 citations
References
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Book•
01 Jan 1990
TL;DR: This book covers what constitutes the common core of control theory and is unique in its emphasis on foundational aspects, covering a wide range of topics written in a standard theorem/proof style and develops the necessary techniques from scratch.
Abstract: Geared primarily to an audience consisting of mathematically advanced undergraduate or beginning graduate students, this text may additionally be used by engineering students interested in a rigorous, proof-oriented systems course that goes beyond the classical frequency-domain material and more applied courses. The minimal mathematical background required is a working knowledge of linear algebra and differential equations. The book covers what constitutes the common core of control theory and is unique in its emphasis on foundational aspects. While covering a wide range of topics written in a standard theorem/proof style, it also develops the necessary techniques from scratch. In this second edition, new chapters and sections have been added, dealing with time optimal control of linear systems, variational and numerical approaches to nonlinear control, nonlinear controllability via Lie-algebraic methods, and controllability of recurrent nets and of linear systems with bounded controls.
3,353 citations
TL;DR: In this article, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006 and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Abstract: This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles, and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations.
1,814 citations
TL;DR: A survey of formation control of multi-agent systems focuses on the sensing capability and the interaction topology of agents, and categorizes the existing results into position-, displacement-, and distance-based control.
1,751 citations
"Prescribed Performance Distance-Bas..." refers background in this paper
...rmation control laws in agents local coordinate frames, which do not require global position measurements (e.g., using GPS) nor pre-alignment of agents local coordinate frames (e.g., using a compass) [6, 7]. In particular, this formation control approach is advantageous not only due to lower agents’ costs (since they use less complex equipment for sensing and local interactions) but also for operation i...
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...ers to the design of appropriate control protocols for stabilizing agents positions with respect to each other so that they set up and maintain a predened geometrical shape. Based on a recent survey [6], the Email addresses: farhad.mehdifar@uclouvain.be (Farhad Mehdifar), chmpechl@mail.ntua.gr (Charalampos P. Bechlioulis), hashemzadeh@tabrizu.ac.ir (Farzad Hashemzadeh), mbaradaran@tabrizu.ac.ir (Mah...
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Posted Content•
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Abstract: This article reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, task assignment, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations.
1,655 citations
TL;DR: It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem and guarantees a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop.
Abstract: A novel robust adaptive controller for multi-input multi-output (MIMO) feedback linearizable nonlinear systems possessing unknown nonlinearities, capable of guaranteeing a prescribed performance, is developed in this paper. By prescribed performance we mean that the tracking error should converge to an arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small prespecified constant. Visualizing the prescribed performance characteristics as tracking error constraints, the key idea is to transform the ldquoconstrainedrdquo system into an equivalent ldquounconstrainedrdquo one, via an appropriately defined output error transformation. It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem. Besides guaranteeing a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop, the proposed robust adaptive controller is smooth with easily selected parameter values and successfully bypasses the loss of controllability issue. Simulation results on a two-link robot, clarify and verify the approach.
1,475 citations
"Prescribed Performance Distance-Bas..." refers background in this paper
...Towards this direction, Prescribed Performance Control (PPC) [36], proposes a simple and constructive procedure based on which the transient performance of the closed-loop system is predetermined by certain user defined performance bounds....
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...A recent paper [45] has also employed PPC for MAS, however, rather than solving a formation control problem, by controlling inter-agent relative orientations and distances it solves a distanceand orientation- based multi-agent coordination problem (that cannot ensure convergence to a specific predefined shape) where inter-agent interactions are modeled by undirected tree graphs....
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...Recently, PPC has been utilized for formation control problems as well, however, these results are mainly applied to displacement-based formation control methods [41–44]....
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...Conclusively, notice that during the transient response phase, the increased robustness against formation distortions induced by the external disturbances is a unique property of the proposed control law (39) that ensures convergence to the desired shape thanks to the PPC method....
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...The problem of designing a controller that meets error constraints in (27) can be simply transformed into establishing the boundedness of certain error signals via the prescribed performance control methodology [36]....
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