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Formation Control With Time-Varying Formations, Bounded Controls, and Local Collision Avoidance
IEEE Transactions on Control Systems Technology, 2022We present a formation control algorithm for double-integrator agents, where the formation is time-varying and the agents' controls satisfy a priori bounds (e.g., the controls can accommodate actuator saturation). We assume that each agent has relative-position-and-velocity feedback of its neighbor agents, where the communication structure is a quasi ...
Zachary S. Lippay, Jesse B. Hoagg
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Bearing-Based Formation Tracking Control With Time-Varying Velocity Estimation
IEEE Transactions on Cybernetics, 2023This article studies the bearing-based formation tracking control problem of multiple double-integrator agents. A leader-following structure, where the leader moves with the reference dynamics, is adopted. Different from the existing methods, which require complete information of the time-varying reference velocity, in this article, only the time ...
Haifan Su +4 more
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Fuzzy adaptive time‐varying formation control of USVs with actuator faults
International Journal of Adaptive Control and Signal Processing, 2023SummaryThis paper investigates the fuzzy adaptive time‐varying formation control problem for fully‐actuated unmanned surface vehicles (USVs) systems. The studied USVs systems include uncertain dynamics and actuator faults. Fuzzy logic systems (FLSs) and disturbance observer are employed to estimate uncertain nonlinear dynamics in system model and ...
Kelin Feng, Kewen Li, Yongming Li
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Controllability of Formations Over Directed Time-Varying Graphs
IEEE Transactions on Control of Network Systems, 2017In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We relate the strongly connected components of this graph to the reachable set of the formation control system. Moreover,
Xudong Chen +2 more
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Time varying Formation Control Using Differential Game Approach
IFAC Proceedings Volumes, 2011Abstract This paper deals with time varying formation control of mobile robots i.e. the formation can change during the mission. To achieve this goal differential game approach is proposed to control the formation. A time varying incidence matrix is defined to determine the interconnection between robots.
F. Shamsi, F. Abdollahi, K.Y. Nikravesh
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Time-Varying Formation Control for Heterogeneous Planar Underactuated Multivehicle Systems
Journal of Dynamic Systems, Measurement, and Control, 2022Abstract This paper presents a distributed control approach for time-varying formation of heterogeneous planar underactuated vehicle networks without global position measurements. All vehicles in the network are modeled as generic three degree-of-freedom planar rigid bodies with two control inputs, and are allowed to have nonidentical ...
Bo Wang +2 more
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A novel approach to time-varying formation control
2017 11th Asian Control Conference (ASCC), 2017This paper addresses the dynamic formation control problem for directed multi-agent networks, in which the desired spatial shape is time-varying instead of fixed one as usually assumed in the literature. The desired geometric shape is usually specified by agents' absolute positions, relative positions, inter-agent bearings, and inter-agent distances in
Xiuxian Li, Lihua Xie
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