Distance-Based Formation Control With Bounded Disturbances

Vu, Dung Van; Trinh, Minh Hoang; Nguyen, Phuoc Doan; Ahn, Hyo‐Sung

doi:10.1109/lcsys.2020.3003418

Cited by 30 publications

(6 citation statements)

References 19 publications

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“…. , 3 as given in (10). In the first scenario, the leader is hovering at the altitude of 10m while the followers start from their initial position and make the required formation.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…These applications include (but are not limited to) target enclosure and tracking, search and rescue, surveillance, heavy payload transportation and telecommunication relay [5,6,7]. The problem of formation control and tracking has been extensively studied in the literature [8,9,10,11,12]. Formation control techniques are usually categorized as virtual structure [13], behavior-based [14] and leader-follower [15].…”

Section: Introductionmentioning

confidence: 99%

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Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

et al. 2022

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In this article, a distributed formation tracking controller is proposed for Multi-Agent Systems (MAS) consisting of quadrotors. It is considered that each quadrotor in the MAS only shares its translation position information with its neighbors. Moreover, position information is transmitted at nonuniform and asynchronous time instants. The control system is divided into an outer-loop for the position control and an inner-loop for the attitude control. A continuous-discrete time observer is used in the outer-loop to estimate both position and velocity of the the quadrotor and its neighbors using discrete position information it receives. Then, these estimated states are used to design the position controller in order to enable quadrotors to generate the required geometric shape. A finite-time attitude controller is designed to track the desired attitude as dictated by the position controller. Finally, a closed-

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“…. , 3 as given in (10). In the first scenario, the leader is hovering at the altitude of 10m while the followers start from their initial position and make the required formation.…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

et al. 2022

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“…It is worth noting that the models of UAVs are described in 2D instead of 3D. It is based on the fact that when the fixed-wing UAVs are performing formations, the UAVs usually fly at constant altitudes [16,17,20,23]. For example, in practical implementations, the UAVs are usually controlled to fly at different altitudes to avoid collisions.…”

Section: Problem Formulation 21 Uav Modelingmentioning

confidence: 99%

“…Then the authors of [15] proved the exponential stability of the formation system under a generalized controller. Besides the work mentioned above, different cases were studied for specific considerations, such as control with disturbances [11,[16][17][18], optimal formation control [19,20], and the formation control combined with flocking [21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Distance-Based Formation Control for Fixed-Wing UAVs with Input Constraints: A Low Gain Method

Yan

Wang

2022

Drones

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Due to the nonlinear and asymmetric input constraints of the fixed-wing UAVs, it is a challenging task to design controllers for the fixed-wing UAV formation control. Distance-based formation control does not require global positions as well as the alignment of coordinates, which brings in great convenience for designing a distributed control law. Motivated by the facts mentioned above, in this paper, the problem of distance-based formation of fixed-wing UAVs with input constraints is studied. A low-gain formation controller, which is a generalized gradient controller of the potential function, is proposed. The desired formation can be achieved by the designed controller under the input constraints of the fixed-wing UAVs with proven stability. Finally, the effectiveness of the proposed method is verified by the numerical simulation and the semi-physical simulation.

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“…Among these applications, formation control plays a crucial role in achieving and maintaining a desired formation shape for multi‐agent systems [7]. Formation control strategies can be categorized into four main types based on the information measurable by the agents: relative position [8], relative distance [9], relative displacement, and relative bearing. In practical engineering applications, the design of formation control systems often emphasizes cost‐effectiveness, aiming for simpler control structures and fewer required sensors [10].…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Ding,

Zhang,

Zhang

et al. 2023

Asian Journal of Control

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This article delves into the bearing‐only formation tracking control problem of nonlinear multi‐agent systems with unknown disturbances and unmodeled dynamics, wherein the distributed control solely utilizes the relative bearing information of its neighbors. Firstly, a disturbance observer combined with a neural network is proposed to eliminate the impact of unknown disturbances and unmodeled dynamics. Additionally, a pioneering event‐triggered based backstepping control approach is put forth for the formation tracking control problem of nonlinear multi‐agent systems, which economizes on communication bandwidth and computing resources by decreasing the update frequency of the controller. Finally, using the Lyapunov method, it is demonstrated that all signals of the control system are bounded, and the convergence errors are confined to a small neighborhood of the origin while excluding the “Zeno behavior” phenomenon through rigorous proof.

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Distance-Based Formation Control With Bounded Disturbances

Cited by 30 publications

References 19 publications

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

Distance-Based Formation Control for Fixed-Wing UAVs with Input Constraints: A Low Gain Method

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

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