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.
About: This article is published in Automatica.The article was published on 2020-09-01 and is currently open access. It has received 68 citations till now. The article focuses on the topics: Lyapunov function & Robustness (computer science).
Citations
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TL;DR: A unified adaptive hybrid attitude control law is designed such that the command attitude, which is extracted from the command force, can be tracked globally and it is shown that the prescribed formation control objective is achieved.
Abstract: This article studies the bearing-based distributed formation control problem of a group of vertical take-off and landing unmanned aerial vehicles subject to unknown disturbances. Both cases of constant and time-varying velocity leaders are considered and two distributed formation control algorithms are developed based on a hierarchical framework. More precisely, two bearing-based distributed commanded forces are, respectively, proposed to achieve the target formation maneuver. Then, a unified adaptive hybrid attitude control law is designed such that the command attitude, which is extracted from the command force, can be tracked globally. In addition, three auxiliary systems are proposed to guarantee the boundedness of the thrust, to avoid the singular problem of command attitude extraction, to obviate the usage of the acceleration information, and compensate the adverse of the disturbance. Globally, the asymptotic stability of the closed-loop system is proved through Lyapunov stable theory. It is shown that the prescribed formation control objective is achieved. Finally, simulation results are provided to validate the performance of the proposed control algorithms.
29 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
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
16 citations
TL;DR: In this paper, a new appointed-time consensus control approach for uncertain networked Euler-Lagrange systems on a directed graph via exploring the prescribed performance control structure is proposed.
Abstract: With consideration of motion control performance and efficient information communication, the synchronization problem on communication connectivity preservation and guaranteed consensus performance for networked mechanical systems has attracted considerable attention in recent years. Different from the existing works, this article investigates a brand-new appointed-time consensus control approach for uncertain networked Euler-Lagrange systems on a directed graph via exploring the prescribed performance control structure. First, a two-layer prescribed performance envelope is formulated via using an appointed-time convergent function for position-related and velocity-related consensus errors, respectively. Then, a simple state-feedback virtual controller with online adaptive performance adjustment is developed to preserve the communication connectivity. Moreover, to guarantee the velocity consensus of the networked systems and improve the position consensus accuracy, an appointed-time adaptive controller is designed by applying the norm inequality to the system uncertainties and external disturbances. Compared to the existing consensus control approaches, the prime advantage of the proposed one is that the constraints generated from the communication ranges are approximated by a time-varying contractive performance envelope, wherein, the appointed-time convergence and steady-state tracking accuracy are preassigned a priori. Meanwhile, no repeated logarithmic error transformations are required in the relevant controller design, which implies that the complexity of the devised control laws has decreased dramatically. Finally, two groups of illustrative examples are organized to validate the effectiveness of the proposed consensus control approach.
14 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
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
TL;DR: This paper identifies three necessary graph theoretic conditions for a graph to have a unique realization in any dimension and efficient sequential and NC algorithms are presented for each condition, although these algorithms have very different flavors in different dimensions.
Abstract: The graph realization problem is that of computing the relative locations of a set of vertices placed in Euclidean space, relying only upon some set of inter-vertex distance measurements. This paper is concerned with the closely related problem of determining whether or not a graph has a unique realization. Both these problems are NP-hard, but the proofs rely upon special combinations of edge lengths. If one assumes the vertex locations are unrelated, then the uniqueness question can be approached from a purely graph theoretic angle that ignores edge lengths. This paper identifies three necessary graph theoretic conditions for a graph to have a unique realization in any dimension. Efficient sequential and NC algorithms are presented for each condition, although these algorithms have very different flavors in different dimensions.
584 citations