Formation-containment control for multi-robot systems with two-layer leaders via hierarchical controller–estimator algorithms

Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms

“…where and (18) and (20) have been invoked to obtain the above equation. It has been already obtained from eorem 2 that s i ⟶ 0 as t ⟶ ∞.…”

“…In the past decades, the researches on distributed cooperative control of multiagent systems have attracted increasing attentions for its superiority over the traditional centralized control, such as stronger robustness, less energy consumption, and more flexibility [1], which thus has brought out a series of related topics, including consensus [2][3][4], distributed optimization in smart grids [5], consensus tracking [6][7][8], optimal tracking [9][10][11][12][13], bipartite consensus/tracking [14,15], formation [16][17][18][19], formationcontainment [20][21][22], synchronization [23][24][25][26], and flocking [27]. As a special case of the multiagent system, Euler-Lagrange dynamics are more applicative in many practical rigid structure modeling, especially the networked robotic system (NRS), which has gained increasing popularity due to its extensive potential applications, including industrial manufacture, search missions, and rescue missions [28].…”

Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine

“…Similarly, the multiple robots call for such a mechanism. Some typical mechanisms have been developed for the robots, that is, the behavior-based algorithm, the virtual structure technique, the leader-follower framework, and the artificial potential field approach [9]. From the aspect of control design, the leader-follower framework has blossomed notably, although the mechanism is criticized for its drawback of a "single point of failure" [10].…”

Practical formation‐containment tracking for multiple autonomous surface vessels system

“…[31] employed the output regulation method for actualising the output formation‐containment for the heterogeneous MASs. The authors of [32, 33] studied the formation‐containment issues for multiple Euler‐Lagrange system and multi‐robot system by using adaptive methods, respectively. Cases where the formations between the leaders can be time‐varying were investigated in [34] and [35] for homogeneous and heterogeneous MASs, respectively.…”

“…Secondly, the formation between the leader ASVs can be time‐varying and the leader ASVs can have heterogeneous uncertain control inputs. Note that the formations of the leaders were only time‐invariant in [5, 15–21, 30–33]. The leaders' formations were time‐varying [34, 35], and however, the leaders' control inputs were assumed to be naught, which has certain limitations.…”