A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model

Dai, Yanyan; Kim, Yoongu; Wee, Sung-Gil; Lee, DongHa; Lee, Suk-Gyu

doi:10.1016/j.isatra.2014.10.008

Cited by 51 publications

(39 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Consider the x-axis subsystem (14) and design its NDO-based observer (15) [33,34]. (15) In (15), p xi is the internal state variable of the observer,δ xi is the approximation of δ xi and the gain vector L xi ∈ R 2×1 is designed such that the constant λ xi = L T xi B xi is positive.…”

Section: Ndo-based Observer Designmentioning

confidence: 99%

“…Replaceδ xi in (21) by the equation and replace u xi in (21) by (22). Then,ṡ xi can be re-arranged bẏ (14) here…”

Section: Integral Smc-based Controller Designmentioning

confidence: 99%

“…See [13] for a complete review of recent approaches to this area. As a branch, formation control works on controlling agents in a multi-agent system to form up and move in specified geometrical shapes [14]. The background of formation control originates from the real world.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Qian¹,

Li²

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

View full text Add to dashboard Cite

Abstract. This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.Key words: multi-agent system, formation control, integral sliding mode control, uncertainty, nonlinear disturbance observer, stability.Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode ysis and design of multiple agent systems. However, the classic leader-following scheme is centralized, meaning that the control systems in [4,6,9,10] heavily depend on the leader and suffer from the "single point of failure'' problem. With the development of communication technology, it is desired to consider the communication topology in the scheme because the adaptability and practicability of multiple agents can be strengthened [15,16].The leader-following scheme gains popularity in multi-agent formations because its dynamics are experimentally modelled, but the internal formation stability can be theoretically guaranteed. Adopting such a scheme, various control methods have been developed for multi-agent formations, that is, robust control [17], dynamic output feedback method [18], adaptive fuzzy approach [19], multi-step predictive mechanism [20], iterative learning technique [21], and neural network-based adaptive design [22], to name but a few. A systematic review on this topic is presented by Oh, Park and Ahn [23].As a nonlinear feedback design tool, the sliding mode control (SMC) technique is popular because of its invariance [24], meaning that matched uncertainties in an SMC system can be suppressed by the invariance. Some SMC-based methods have been addressed to solve the formation-control problem of multi-agent systems, that is, first-order SMC [25,26] [15,[25][26][27][28] have verified the feasibility of the SMC methodology for multi-agent formations.Compared to other SMC methods, the integral SMC design can guarantee an integral SMC system against matched uncertainties from the initial time, indicating that an entire response of the system is of invariance. Some successful applications of the integral SMC method have been reported in industries, for example, power systems [29], hypersonic ve...

show abstract

Section: Ndo-based Observer Designmentioning

confidence: 99%

“…Replaceδ xi in (21) by the equation and replace u xi in (21) by (22). Then,ṡ xi can be re-arranged bẏ (14) here…”

Section: Integral Smc-based Controller Designmentioning

confidence: 99%

See 1 more Smart Citation

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Qian¹,

Li²

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

View full text Add to dashboard Cite

show abstract

“…In recent years, the problem of multiagent system (MAS) has been widely studied by many researchers [1][2][3][4]. These systems can potentially consist of a great number of agents, such as unmanned aerial vehicles (UAG), unmanned underwater vehicles (UUV), and unmanned ground vehicles (UGA).…”

Section: Introductionmentioning

confidence: 99%

Event‐Triggered Multitarget Formation Control for Multiagent Systems

Zhang

Yan

et al. 2017

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The problems of multitarget selection and formation for multiagent systems are considered. First of all, an improved multitarget selection method based on auction algorithm is proposed such that each agent can automatically choose its target, and during the process of choosing targets, we apply an event-triggered mode to reduce the communication links between agents. Second, in view of the fact that all agents with the same target need to form a desired formation shape, we provide an event-triggered formation controller for each agent. Finally, we carry out the simulation experiment of the algorithm and the simulation results have illustrated the effectiveness of it.

show abstract

“…To achieve the formation maneuvers of multiple robots, various formation schemes have been presented. These schemes can be roughly categorized into leader-following approaches [4], [5], behavior-based techniques [6], [7], and virtual-structure based methods [8].…”

Section: Introductionmentioning

confidence: 99%

Leader-Following Formation Control of Multiple Robots with Uncertainties through Sliding Mode and Nonlinear Disturbance Observer

Qian

2016

ETRI J

View full text Add to dashboard Cite

This paper presents a control scheme for the leader‐following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader‐following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB‐based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC‐based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second‐order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.

show abstract

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model

Cited by 51 publications

References 14 publications

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Event‐Triggered Multitarget Formation Control for Multiagent Systems

Leader-Following Formation Control of Multiple Robots with Uncertainties through Sliding Mode and Nonlinear Disturbance Observer

Contact Info

Product

Resources

About