Distributed Adaptive Fault-Tolerant Formation–Containment Control With Prescribed Performance for Heterogeneous Multiagent Systems

Gong, Jianye; Jiang, Bin; Ma, Yajie; Mao, Zehui

doi:10.1109/tcyb.2022.3218377

Cited by 12 publications

(1 citation statement)

References 38 publications

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“…On the other hand, there exist other works that deal with the robustness as well as the intermittent communication issues under the containment control framework for multiagent systems. Specifically, the paper [23] introduces a distributed adaptive fault-tolerant formation-containment controller for heterogeneous multi-agent systems involving unmanned aerial vehicles and unmanned ground vehicles. It develops strategies for trajectory tracking and containment control, compensating for actuator faults and unknown parameters.…”

Section: Related Workmentioning

confidence: 99%

Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems

Bechlioulis

2024

Electronics

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This paper deals with the containment control problem for multi-agent systems. The objective is to develop a distributed control scheme that leads a sub-group of the agents, called followers, within the convex hull that is formed by the leaders, which operate autonomously. Towards this direction, we propose a twofold approach comprising the following: (i) a cyber layer, where the agents establish, through the communication network, a consensus on a reference trajectory that converges exponentially fast within the convex hull of the leaders and (ii) a physical layer, where each agent tracks the aforementioned trajectory while avoiding collisions with other members of the multi-agent team. The main contributions of this work lie in the robustness of the proposed framework in both the trajectory estimation and the tracking control tasks, as well as the guaranteed collision avoidance, despite the presence of dynamic leaders and bounded but unstructured disturbances. A simulation study of a multi-agent system composed of five followers and four leaders demonstrates the applicability of the proposed scheme and verifies its robustness against both external disturbances that act on the follower model and the dynamic motion of the leaders. A comparison with a related work is also included to outline the strong properties of the proposed approach.

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Section: Related Workmentioning

confidence: 99%

Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems

Bechlioulis

2024

Electronics

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Time‐varying output group formation‐containment tracking control for heterogeneous multi‐agent system

Han,

Zhang,

Zhao

2024

Asian Journal of Control

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The time‐varying output group formation‐containment tracking (TVOGFCT) problem of discrete‐time heterogeneous multi‐agent system (MAS) is investigated in this paper. Assuming the MAS consists of multiple tracking leaders, formation leaders, and followers, and all the agents are divided into several groups. Firstly, to estimate the convex combination of tracking leaders in the same group, the distributed observers are designed for the formation leaders, and the observer‐based formation tracking protocols are also presented to make formation leaders realize the desired time‐varying group formation while tracking the convex combination of tracking leaders. Then, two types of observers are proposed to estimate the convex combination of tracking information and formation functions, based on which the containment tracking protocols are designed for the followers of each group. By using output regulation theory and Lyapunov theory, it is illustrated that the designed protocols can make the MAS realize TVOGFCT. Finally, the simulation results prove the correctness of the theoretical analysis.

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Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function

Wu,

Deng

2024

Lecture Notes in Electrical Engineering

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Distributed Adaptive Fault-Tolerant Formation–Containment Control With Prescribed Performance for Heterogeneous Multiagent Systems

Cited by 12 publications

References 38 publications

Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems

Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems

Time‐varying output group formation‐containment tracking control for heterogeneous multi‐agent system

Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function

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