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Fully Distributed Time-Varying Formation Control for Multiple Uncertain Missiles
IEEE Transactions on Aerospace and Electronic Systems, 2021The article addresses the fully distributed time-varying formation control problem for multiple missiles involving uncertainties. An adaptive control protocol is developed for the missiles, which includes uncertainties in the flight dynamics, while the adaptive control protocol does not require global information of the network missile system.
Deyuan Liu, Hao Liu, Kimon P. Valavanis
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Decentralized time-varying formation control for multi-robot systems
The International Journal of Robotics Research, 2014In this paper, a distributed controller–observer schema for tracking control of the centroid and of the relative formation of a multi-robot system with first-order dynamics is presented. Each robot of the team uses a distributed observer to estimate the overall system state and a motion control strategy for tracking control of time-varying centroid ...
ANTONELLI, Gianluca +3 more
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Time-Varying Formation Control of Nonholonomic Multi-Agent Systems
2019 2nd International Conference on Intelligent Autonomous Systems (ICoIAS), 2019As the representative of an intelligent autonomous system, formation control of multi-agent systems is of great significance. In this paper, the leader-follower time-varying formation control problem for nonholonomic multi-agent systems has been considered using the bearing measurement.
Xiaolei Li, Meng Joo Er, Jiange Wang
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Finite-time time-varying formation control for marine surface vessels
Ocean Engineering, 2021Abstract This paper is dedicated to solving the time-varying formation control problem of multiple marine surface vehicles experiencing uncertainties, actuator faults and saturation constraints. At first, the transformed Euler-Lagrange dynamics of MSVs are presented for problem formulation. Based on such dynamics, a novel integral manifold possessing
Cheng Zhu +4 more
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Adaptive time‐varying formation control for teleoperation system: A finite‐time approach
International Journal of Adaptive Control and Signal Processing, 2022SummaryIn this article, the finite‐time formation control scheme is put forward for teleoperation system with time delay. First, a group of finite‐time observers are established to address the teleoperation system with time‐varying delay issue and via linearly parameterize to deal with the uncertainty in the system.
Shan Su, Yude Ji
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Time‐varying formation control with attitude synchronization of multiple rigid body systems
International Journal of Robust and Nonlinear Control, 2021AbstractIn this article, we study the leader‐following formation control problem for a group of rigid body systems whose followers' motions are described by dual quaternion equations. A few features are as follows. First, we introduce an exosystem to generate the leader's trajectory as well as the formation configuration, which can produce a large ...
Tianqi Wang, Jie Huang
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Distributed fault‐tolerant time‐varying formation control of heterogeneous multi‐agent systems
International Journal of Robust and Nonlinear Control, 2021AbstractThis article investigates the cooperative time‐varying formation control for heterogeneous multi‐agent systems (HMASs) with unknown actuator faults and external disturbances. The HMASs consist of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs).
Yi Ren +4 more
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Wave Equation-Based Time-Varying Formation Control of Multiagent Systems
IEEE Transactions on Control Systems Technology, 2018This paper considers time-varying formation control for multiagent systems (MASs). The collective dynamics is modeled by a wave partial differential equation (PDE) in an angular symmetric annulus. The dynamical formation formed by a group of agents can be represented by wave PDEs due to the energy conservation property of wave PDEs.
Jie Qi, Jing Zhang, Yongsheng Ding
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Robust time-varying formation tracking control of underactuated unmanned vessels
2020 Chinese Automation Congress (CAC), 2020Time-varying formation tracking of multiple surface vessels system is considered. Firstly, the interaction topology and the time-varying formations of multiple surface vessels are established based on algebraic graph theory. Secondly, the cubic spline interpolation method is used to obtain the desired trajectory when only several path points are given.
Wenlu Bai +4 more
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2021 40th Chinese Control Conference (CCC), 2021
Group formation-tracking problem for heterogeneous multi-agent systems (HMASs) with both switching networks and communication delays is investigated in this paper. In order to achieve different tasks, the agents are classified into various groups. The followers are allowed to realize the formation and track the trajectory of the leader in each group ...
Shiyu Zhou +4 more
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Group formation-tracking problem for heterogeneous multi-agent systems (HMASs) with both switching networks and communication delays is investigated in this paper. In order to achieve different tasks, the agents are classified into various groups. The followers are allowed to realize the formation and track the trajectory of the leader in each group ...
Shiyu Zhou +4 more
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