Adaptive cooperative formation‐containment control for networked Euler–Lagrange systems without using relative velocity information

Chen, Liangming; Li, Chuanjiang; Mei, Jie; Ma, Guangfu

doi:10.1049/iet-cta.2016.1185

Cited by 59 publications

(32 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on the containment problem and the formation problem, the distributed formation‐containment (DFC) problem is investigated in References , where the leaders form a geometric formation shape and the followers move into the area spanned by the leaders. Considering an undirected graph, the DFC problem is studied for the first‐order swarm systems in Reference .…”

Section: Introductionmentioning

confidence: 99%

“…In Reference , for a class of the second‐order MASs under an undirected graph, a DFC control algorithm is proposed using only position measurements. Similarly, the DFC problem is considered in Reference with a stationary formation configuration, while no relative velocity information is required. For networked unmanned aerial vehicles, the DFC problem with both fixed and switching graphs is studied in Reference .…”

Section: Introductionmentioning

confidence: 99%

“…Different from the results in References , and using full‐state measurements, the proposed approach is still feasible without using velocity information. Moreover, compared with existing works concerning a stationary formation configuration, this control scheme can tackle a time‐varying formation case, which is more general and practical. Last but not least, this article deals with systems governed by MELSs with model uncertainties, while most existing approaches consider linear systems, systems with the known dynamic model, or systems which has the “linearity‐in‐parameters” property …”

Section: Introductionmentioning

confidence: 99%

“…In this article, we study DFC control via output feedback for MELSs under a directed graph with environmental obstacles and model uncertainties. Compared with existing works, [23][24][25][26][27][28][29][30] this approach holds the following contributions. First, a novel DFC control law integrated with neural networks (NNs) and artificial potential functions is addressed, which can approximate the model uncertainties and help the agents avoid collisions with each other and with the obstacles.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Formation‐containment control of networked collision‐free Lagrangian systems

et al. 2020

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

Summary The distributed formation‐containment (DFC) problem under a directed graph is addressed for networked Euler‐Lagrange systems. First, using a leader‐follower framework, the DFC problem is properly defined. For the leaders and the followers, respectively, a DFC control law is next proposed without using velocity information. Based on the artificial potential function, all the agents can achieve the control objective satisfactorily while avoiding collisions with others as well as the obstacles in the environment. By the Lyapunov stability theory, the boundedness of the error signals is guaranteed. Simulations are finally given to show the feasibility of this approach.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Formation‐containment control of networked collision‐free Lagrangian systems

et al. 2020

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

“…From Property , we can get that

M_{i} false(q_{i} false) {\overset{q}{true}}_{r i} false(t false) + C_{i} false(q_{i}, {\overset{q}{true}}_{i} false) {\overset{q}{true}}_{r i} false(t false) + {sans-serifg}_{i} false(q_{i} false) = Y_{i} false(q_{i}, {\overset{q}{true}}_{i}, {\overset{q}{true}}_{r i}, {\overset{q}{true}}_{r i} false) {normalΘ}_{i} .

Note from that

{\overset{q}{true}}_{r i} false(t false) = - κ \sum_{j = 1}^{n} a_{i j} false({\overset{q}{true}}_{i} false(t false) - {\overset{q}{true}}_{j} false(t false) false)

, which implies that

{\overset{q}{true}}_{r i} false(t false)

involves the relative velocity information, and so does

Y_{i} false(q_{i}, {\overset{q}{true}}_{i}, {\overset{q}{true}}_{r i}, {\overset{q}{true}}_{r i} false)

. By using the same approach proposed earlier, the term

{\overset{q}{true}}_{r i} false(t false)

, which appears in , is replaced by 0 p to relax the requirement on relative velocity measurements. It thus follows that

…”

Section: Resultsmentioning

confidence: 99%

Event‐based distributed robust synchronization control for multiple Euler‐Lagrange systems without relative velocity measurements

Duan

Sun

2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This paper focuses on the event-based distributed robust leaderless synchronization control for multiple Euler-Lagrange systems with directed communication topology that contains a directed spanning tree. Update frequency of the system is reduced by taking advantages of the event-triggered approach, which can help extend the service life of the controller. Robust control theory is employed to guarantee the synchronization stability of the networked Euler-Lagrange systems when unmodeled dynamics occur. The cost on the distributed synchronization protocol design can be saved due to the relaxation of the requirement on relative velocity measurements. Furthermore, our results are more practical because unknown disturbance is taken into consideration. In addition, it can be rigorously analyzed that each agent can exclude the undesired Zeno behavior. Some simulation examples are provided in the end to demonstrate the effectiveness of the proposed event-based distributed robust control algorithm.In practice, it is essential for the systems to be equipped with a better communication capability to obtain the accurate relative velocity information, which may raise communication burden and cost much computing resource. There have been some recent studies that aim to remove the requirement on relative velocity information from the control laws; here, we just list some of the most relevant papers as examples. Both containment control and leaderless synchronization control problems were addressed under directed networks by Mei et al. 10 Sliding mode estimators, distributed observers, and controllers were designed in the work of Yang et al 11 to solve the tracking control problem with a dynamic leader over directed graphs. A novel distributed observer, which is compatible for different control schemes with or without structure uncertainties, was introduced by Zhang et al 12 to deal with the leaderless synchronization control problem under undirected networks. Furthermore, distributed finite-time tracking protocols were proposed by Chen 7 and Zhao et al 13 under the assumptions that there exists a directed spanning tree rooted at the dynamic leader and the subgraph among followers are directed and undirected, respectively. Note that the above results all have employed an adaptive control scheme. However, it should be stressed that a plant that contains unmodeled dynamics may yield instability in practical designs by applying adaptive control theory, which implies that it is difficult to achieve the desirable coordination performance. 14,15 On this account, distributed control protocols were developed to cope with the synchronization problem from the standpoint of robust control mechanism in the works of Liu et al, 16,17 but they only guarantee the uniform ultimate boundedness of the synchronization errors and the communication networks are supposed to be strongly connected, which is a more restrictive condition.In recent years, event-triggered control, which plays a significant role in reducing communication frequency and/or con...

show abstract

Properties of interconnected negative imaginary systems and extension to formation‐containment control of networked multi‐UAV systems with experimental validation results

Su,

Bhowmick,

Lanzon

2023

Asian Journal of Control

View full text Add to dashboard Cite

This paper extends the properties of a positive feedback interconnection of two negative imaginary (NI) systems to multi‐agent NI systems and proposes a new formation‐containment control methodology relying on the characteristic loci technique. Inspired by recent applications of NI and passivity‐based control techniques in the multi‐agent systems (MAS) domain, a new formation‐tracking and containment control scheme is developed for a class of networked multi‐UAV systems. The proposed scheme offers a two‐stage and two‐loop control configuration where the inner loop uses a cascaded PID controller to ensure stable hovering of the UAVs, and the outer loop deploys a distributed “mixed” SNI and strictly passive controller to achieve the formation‐containment objectives. This scheme works with a dynamic output feedback control strategy; hence, it offers advantages when the full‐state measurement is not possible. In contrast to the well‐known Lyapunov theory‐based cooperative control schemes, the present one exploits the characteristic loci technique to prove the formation‐tracking and containment phenomena theoretically. The paper also provides experimental validation results on a fleet of Crazyflie 2.1 nano quadcopters.

show abstract

Adaptive cooperative formation‐containment control for networked Euler–Lagrange systems without using relative velocity information

Cited by 59 publications

References 33 publications

Formation‐containment control of networked collision‐free Lagrangian systems

Formation‐containment control of networked collision‐free Lagrangian systems

Event‐based distributed robust synchronization control for multiple Euler‐Lagrange systems without relative velocity measurements

Properties of interconnected negative imaginary systems and extension to formation‐containment control of networked multi‐UAV systems with experimental validation results

Contact Info

Product

Resources

About