Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay

Kang, Hoon; Wang, Wenqing; Yang, Chunjie; Li, Zhen

doi:10.1109/access.2020.3012992

Cited by 10 publications

(10 citation statements)

References 51 publications

(80 reference statements)

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“…Remark 1. Different from the existing distributed leader-following formation control schemes [9,10,11,12,13,14,15,16,17,18] with fixed goal positions, we consider interchangeable goals as stated in Assumption 5. In [21,22], distributed goal assignment algorithms were presented for multi-agent systems, but those cannot be used for Problem 1 because there was no leader and only the first-order agents were handled.…”

Section: Problem Formulationmentioning

confidence: 99%

“…To address this problem, a number of researchers have developed leader-following formation control schemes in the presence of limited leader information under the distributed communication network. In [9,10], formation control and collision avoidance problems were handled simultaneously by adopting the artificial potential function approach. Recently, time-varying formation trackers were designed considering mismatched disturbances [11] or switching communication topology [12].…”

Section: Introductionmentioning

confidence: 99%

“…For practical applications of leader-following formation control approaches, various robotic systems were handled such as mobile robots [13,14], underwater vehicles [15,16], surface vehicles [17], and quadrotors [18]. Nevertheless, in the existing leader-following formation control schemes [9,10,11,12,13,14,15,16,17,18], the goal assignment issue allotting appropriate goal positions for followers was not investigated where the goal indicates the desired relative position with respect to the leader. Namely, the goals of followers in [9,10,11,12,13,14,15,16,17,18] are not allowed to be changed which leaves room for the development of assignment strategy in the leader-following formation control field.…”

Section: Introductionmentioning

confidence: 99%

“…(C1) This is the first attempt to address the goal assignment issue in leaderfollowing formation control with limited leader information. That is, the goals of followers are assigned properly using an online goal assignment strategy different from the previous leader-following formation control schemes with fixed goals [9,10,11,12,13,14,15,16,17,18].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Distributed goal assignment strategy for improving leader-following formation control performance

Choi¹,

Kim²

2022

Preprint

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This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the leader information is only available to a subset of agents. Compared with existing formation control schemes addressing the goal assignment issue, the main contribution of this paper is to construct a novel distributed assignment strategy allotting appropriate goal positions of agents in the leader-following formation control framework. Based on the rigorous analysis using the Lyapunov stability theory, the enhancement of the control performance is proved via the proposed assignment strategy. To demonstrate the effectiveness of our theoretical results, two examples including multiple quadrotors are simulated.

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Section: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Distributed goal assignment strategy for improving leader-following formation control performance

Choi¹,

Kim²

2022

Preprint

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“…The formation control problem involves various forms of systems, including fractional-order, first-order, second-order, and higher-order systems, as well as linear, nonlinear, continuous systems and discrete systems. Constraints such as time delay [6], [7], communication constraint [8] and disturbance [9]- [11] are also considered in formation control. Hua et al studied the finite-time time-varying formation tracking problem for high-order multi-agent systems in [12].…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Control for Guaranteed-Cost Bipartite Formation of Multi-Agent Systems

2022

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This paper is concerned with event-triggered guaranteed-cost bipartite formation control of multi-agent systems with antagonistic interactions. In order to save the limited network communication bandwidth of multi-agent systems, event-triggered sampled-data transmission strategy is adopted. Event conditions are designed for both leader and followers to reduce the frequency of state transmission more effectively. According to the event-triggered sampled-data of the leader and followers, bipartite formation controllers are designed for followers. By using the event conditions and the Lyapunov method, the sufficient conditions for the realization of bipartite formation and guaranteed-cost bipartite formation are obtained in terms of linear matrix inequality, respectively. Finally, the effectiveness of the theoretical results is demonstrated by numerical examples.INDEX TERMS Multi-agent systems, guaranteed-cost, bipartite formation, antagonistic interactions, event-triggered sampling.

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Finite‐time consensus for second‐order leader‐following multi‐agent systems with external disturbances and internal nonlinear dynamics based on event‐triggered pinning strategy

Luo

Gao

Alsaedi

et al. 2022

Intl J Robust & Nonlinear

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The finite-time consensus problem for leader-following systems was evaluated under external disturbances and internal nonlinear dynamics. A model with nonlinear dynamics and external disturbances was proposed to make the systems more realistic. The event-triggered pinning control strategy was used in second-order multiagent systems to address the problem of the agents' continuous communication. A new event-triggered control function was designed, and a finite-time controller was constructed using an integral sliding-mode algorithm. The systems can be proven to achieve consensus in the expected convergence time, which can be obtained using finite-time and Lyapunov stability theories.Moreover, the Zeno behavior can be proven to avoid event-triggered controllers. Finally, a numerical example was presented to illustrate the effectiveness and accuracy of the theoretical analysis. K E Y W O R D Sevent-triggered pinning control strategy, external disturbances, finite-time consensus, integral sliding mode algorithm, internal nonlinear dynamics INTRODUCTIONArtificial intelligence has recently become a popular subject, and multi-agents are a subset of artificial intelligence that has developed a variety of control methods to address various problems in reality such as tracking and formation control, 1 mechanical and chaotic systems, 2,3 stochastic switching, 4 and sampled date and cooperative control. 5 The distributed control algorithm 6 is a popular control method for achieving a consensus in systems. Specifically, an agent only needs to transmit information to its neighboring agents. 7,8 This approach has the advantage of reducing the cost of control and the communication capacity.Researchers have studied several multi-agent models in multi-agent consensus-control research. First-order multiagents have been widely evaluated and used to address consensus problems because they allow us to quickly observe the effects of control. However, there has been a delay in the control effects. Many studies in the field of consensus for second-order multiagents have been published. Cheng evaluated the consensus of second-order multiagents. Each agent can be controlled by its position and speed within the system. Different types of agent models are evaluated according to the diverse functions of the required multiagent. 9 Shu and Liu investigated the consensus of leader-following in a 8558

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Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay

Cited by 10 publications

References 51 publications

Distributed goal assignment strategy for improving leader-following formation control performance

Distributed goal assignment strategy for improving leader-following formation control performance

Event-Triggered Control for Guaranteed-Cost Bipartite Formation of Multi-Agent Systems

Finite‐time consensus for second‐order leader‐following multi‐agent systems with external disturbances and internal nonlinear dynamics based on event‐triggered pinning strategy

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