Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

Jin, Lina; Yu, Shuanghe; Dongxu, Ren

doi:10.1155/2018/9162358

Cited by 8 publications

(6 citation statements)

References 29 publications

(57 reference statements)

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“…The proposed formation guidance law aims at reducing the errors in the radial and angular direction of the follower UAV by applying the desired inertial speed V d and the desired course angle χ d instead of the control inputs V f and χ f of the error system in (7), which is proposed as follows,…”

Section: B Formation Guidance Lawmentioning

confidence: 99%

“…The vector-field method and the consensus algorithm are applied for the triangular formation [6]. In [7], the authors present the combination of the circular motion control law and the phase control law to achieve the circular formation. The vector-field guidance technique is the well-studied topic and has the advantage of straightforward implementation [8]- [14].…”

Section: Introductionmentioning

confidence: 99%

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Circular Formation Guidance of Fixed-Wing UAVs Using Mesh Network

2022

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This paper presents the guidance algorithm for the circular formation flight of multiple fixed-wing UAVs. The formation guidance law aims at reducing both the radial and the phase angle error with respect to the moving reference point located at a fixed distance from the leader UAV. To this end, the proposed guidance law generates the desired course angle and the inertial speed commands for each follower UAV. The control commands are then converted to the roll angle and the airspeed commands for the autopilot. The theoretical stability proof is rigorously analyzed via the Lyaupunov method. The performance of the proposed control law is compared with the existing vector-field formation guidance scheme via numerical simulation. After the extensive validation using the hardware-in-the-loop simulation environment which includes the mesh network communication system, the flight test are performed to demonstrate not only the performance of the proposed algorithm but also the robustness to the wind disturbance.

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Section: B Formation Guidance Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Circular Formation Guidance of Fixed-Wing UAVs Using Mesh Network

2022

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“…This circular formation pattern is of interest when surveillance, or observation, is defined as the objective [6,[9][10][11][12][13][14]. One of the specific properties of circular formation is that constant values can be used by agents in order to correct their gains and hence maintain their formation [12]. As at least one value is fixed (e.g., inter-agent distance, or distance to a target), it can be used to compute the error and thus correct the gains of the agents.…”

Section: Introductionmentioning

confidence: 99%

Integral Sliding Control Approach for Generalized Cyclic Pursuit Formation Maintenance

Ansart

Juang

2021

Electronics

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This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a formation, marginal stability of the overall network is required. The desired marginal stability of the network relies on each agents’ gain values, and uncertainties in these gains can occur. Previous studies have used fixed gains, we enhance the stability of the gains via a dynamic approach using an integral sliding controller (ISC). An ISC can ensure sliding behavior of the gains throughout the entire response, and it is shown that the gains are robust toward variations and thus make the network keep its marginal stability and its formation.

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“…Authors in [10] present a control method based on the chasing agent's bearing angle knowledge and preserve the inter-agent distance between the agents in a heterogeneous manner. The study conducted in [11] examines the circular formation control issue of MAS in order to achieve any predetermined phase distribution. The proposed control law drives all of the agents to a circle and arranges them in places dispersed on the circle based on preset relative phases.…”

Section: Introductionmentioning

confidence: 99%

Robust Formation Maintenance Methods under General Topology Pursuit of Multi-Agents Systems

2021

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In this article, methods of formation maintenance for a group of autonomous agents under ageneral topology scheme are discussed. Unlike rendezvous or geometric formation, general topology pursuit allows the group of agents to autonomously form trochoid patterns, which are useful in civilian and military applications. However, this type of topology is established by designing a marginally stable system that may be sensitive to parameter variations. To account for this drawback of stability, linear fixed-gains are turned into a dynamical version in this paper. By implementing a disturbance observer controller, systems are shown to maintain their formation despite the disturbances or uncertainties. Comparison in the effectiveness of the presented method with model reference adaptive control and integral sliding mode control under the uncertainties of the gains is also conducted. The capabilities of controllers are demonstrated and supported through simulations.

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Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

Cited by 8 publications

References 29 publications

Circular Formation Guidance of Fixed-Wing UAVs Using Mesh Network

Circular Formation Guidance of Fixed-Wing UAVs Using Mesh Network

Integral Sliding Control Approach for Generalized Cyclic Pursuit Formation Maintenance

Robust Formation Maintenance Methods under General Topology Pursuit of Multi-Agents Systems

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