Adaptive design for reference velocity recovery in motion coordination

Adaptive consensus of multi-agents in networks with jointly connected topologies

“…The linearly parameterized models have been studied widely in classical adaptive control (Sastry and Bodson, 1989;Marino and Tomei, 1995). The examples of linearly parameterized model of multi-agent systems can be found in Bai et al (2008Bai et al ( , 2009). …”

“…When unknown information or unmeasured information exists in the system, there are few efforts in the literature considering networks with switching topology, especially jointly connected topologies. Except for Hong et al (2006), the works (Bai et al, 2008(Bai et al, , 2009Hou et al, 2009;Das and Lewis, 2010;Yu et al, 2009a,b) mentioned above are all for networks with fixed topology. In Hong et al (2006), the case of networks with switching topologies and an extended case are studied.…”

“…This is particularly true for the case of networks with jointly connected topologies, because standard results from adaptive control theory cannot be applied to the system directly. The two papers (Bai et al, 2008(Bai et al, , 2009) also introduced PE condition for parameter convergence analysis in fixed network topology. A situation of all followers and the leader having non-identical unknown nonlinear dynamics and external disturbances is considered in Das and Lewis (2010), in which all consensus errors and parameter estimate errors are proved to be uniformly ultimately bounded (UUB) based on some assumptions in fixed network topologies.…”

Leader–follower formation via complex Laplacian

“…Roughly, three main approaches to formation control have been discussed in recent literature. The first approach describes a formation in terms of inter-agent distance measures (Eren et al, 2002;Yu et al, 2007;Hendrickx et al, 2007;Bai et al, 2008) and uses gradient descent control laws resulted from distance-based artificial potentials (Olfati-Saber and Murray, 2002a;Cao et al, 2008;Yu et al, 2009;Krick et al, 2009;Cao et al, 2011). The second approach describes a formation in terms of inter-agent bearing measures (Eren, 2007) and uses angle only control laws (Basiri et al, 2010;Guo et al, 2011).…”

Formation control of fully-actuated marine vessels using group agreement protocols

“…Examples are the general designs in [2], [9], [10], [11] and [13], the designs for mobile robots in [12] and [14], and the design for spacecraft in [15]. Within the marine control community, a large amount of work has been done within a path-based framework, where one wants the formation to move along a prespecified path with a desired speed.…”