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Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version).
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TLDR
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.read more
Citations
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Journal ArticleDOI
Prescribed performance distance-based formation control of Multi-Agent Systems
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.
Journal ArticleDOI
Distance-Based Formation Control With Bounded Disturbances
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.
Journal ArticleDOI
Robust formation control for networked robotic systems using Negative Imaginary dynamics
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.
Proceedings ArticleDOI
Distance-based Formation Tracking with Unknown Bounded Reference Velocity
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.
Coordinated Control of High-Order Fully Actuated Multiagent Systems and Its Application: A Predictive Control Strategy
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.
References
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Journal ArticleDOI
Distance-Based Multiagent Formation Control With Energy Constraints Using SDRE
Reza Babazadeh,Rastko R. Selmic +1 more
TL;DR: The rigid graph theory and state-dependent Riccati equation method is combined to develop a multiagent formation control scheme that asymptotically minimizes weighted cost functional that includes formation and energy consumption costs.
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Further results on the distance and area control of planar formations
TL;DR: It is proved that, under certain conditions on the edge lengths of the triangulated desired formation and control gains, the distributed controller ensures the almost-global asymptotic stability of the correct formation and is coordinate frame invariant.
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A distributed control and parameter estimation protocol with prescribed performance for homogeneous lagrangian multi-agent systems
TL;DR: A distributed adaptive control protocol of minimal complexity is proposed that achieves prescribed, arbitrarily fast and accurate formation establishment as well as synchronization of the parameter estimates of all followers.
Journal ArticleDOI
Guaranteed-Performance Time-Varying Formation Control for Swarm Systems Subjected to Communication Constraints
TL;DR: A guaranteed-performance time-varying formation control protocol is proposed by using the intermittent relative local information, and the performance function is introduced to guarantee the formation regulation performance among neighboring agents.
Proceedings ArticleDOI
Disturbance Attenuation in Distance-Based Formation Control: A Linear Matrix Inequality Approach
TL;DR: Based on the Lyapunov stability theory, the matrix inequality condition for local asymptotic boundedness of the overall squared-distance errors of multiagent system is derived and it is seen that there exists a positive definite symmetric matrix of linear matrix inequality(LMI), with bounded squared- distance errors of formation system.