Leader-following Formation Control of Second-order Nonlinear Systems with Time-varying Communication Delay

Ming, Wang; Zhang, Tao

doi:10.1007/s12555-019-0759-0

Cited by 24 publications

(5 citation statements)

References 43 publications

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“…In the flight control system with high control accuracy, the existence of time delay may even cause accidents. Previous studies [25][26][27][28][29] have considered the communication delay generated during the communication between UAVs. However, the input delay generated by UAV itself during the information processing is relatively less considered.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Duan

Min

2023

Asian Journal of Control

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This paper aims to solve the tracking control problem for quadrotor unmanned aerial vehicle (UAV) with input delay and disturbances. An appropriate auxiliary system is applied to compensate the effect of the input delay. The nonlinear disturbance observer is utilized to restrain the influence of external disturbances. Then, the controller is designed by backstepping method to ensure the trajectory tracking and steady flight of the quadrotor UAV. We also present simulation and experimental reification results to demonstrate the tracking effect and stable flight of the UAV.

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Section: Introductionmentioning

confidence: 99%

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Duan

Min

2023

Asian Journal of Control

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“…In [ 2 , 3 ], the leader–follower approach is used to carry out the desired formation in multi-agent systems with double integrator dynamics. In [ 4 , 5 ], the leader–follower approach is also used, but these works consider time-varying formation problems. The problem of time-varying formation is more challenging than fixed formation since the geometric pattern of the formation changes over time.…”

Section: Introductionmentioning

confidence: 99%

Formation and Flocking Control Algorithms for Robot Networks with Double Integrator Dynamics and Time-Varying Formations

Montanez-Molina

Pliego‐Jiménez

Martínez-Clark

2023

Entropy

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In this work, we study the problem of designing control laws that achieve time-varying formation and flocking behaviors in robot networks where each agent or robot presents double integrator dynamics. To design the control laws, we adopt a hierarchical control approach. First, we introduce a virtual velocity, which is used as a virtual control input for the position subsystem (outer loop). The objective of the virtual velocity is to achieve collective behaviors. Then, we design a velocity tracking control law for the velocity subsystem (inner loop). An advantage of the proposed approach is that the robots do not require the velocity of their neighbors. Additionally, we address the case in which the second state of the system is not available for feedback. We include a set of simulation results to show the performance of the proposed control laws.

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“…By developing the Lyapunov–Krasovskii (L–K) function, Ref. [ 33 ] addressed time-varying delay problem for a 2nd-order MAS. By applying generalized Halanay inequality, Ref.…”

Section: Introductionmentioning

confidence: 99%

“…Only delayed neighbor information is needed to realize formation flight; that is, the proposed protocol is distributed, and the time-varying formation configuration can be flexibly designed to adapt to target enclosing, area covering and other scenarios. Meanwhile, the disturbances and uncertainties are handled properly by radial basis function neural network (RBFNN) and an adaptive estimator; the application restrictions in real-word environments are relaxed compared to [ 32 , 33 , 34 ].…”

Section: Introductionmentioning

confidence: 99%

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

Zhao

Zhu

Zhang

2022

Sensors

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This paper investigates the problem of formation fault-tolerant control of multiple quadrotors (QRs) for a mobile sensing oriented application. The QRs subject to faults, input saturation and time-varying delays can be controlled to perform a target-enclosing and covering task while guaranteeing the state constraints will not be exceeded. A distributed formation control scheme is proposed, using a radial basis function neural network (RBFNN)-based time-delay position controller and an adaptive fault-tolerant attitude controller. The Lyapunov–Krasovskii approach is used to analyze the time-varying delay. Barrier Lyapunov function is deployed to handle the prescribed constraints, and an auxiliary system combined with a command filter is designed to resolve the saturation problem. An RBFNN and adaptive estimators are deployed to provide estimates of disturbances, fault signals and uncertainties. It is proven that all the closed-loop signals are bounded under the proposed protocol, while the prescribed constraints will not be violated, which enhances the flight safety and QR formation’s applicability. Comparative simulations based on application scenarios further verify the effectiveness of the proposed method.

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Leader-following Formation Control of Second-order Nonlinear Systems with Time-varying Communication Delay

Cited by 24 publications

References 43 publications

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Formation and Flocking Control Algorithms for Robot Networks with Double Integrator Dynamics and Time-Varying Formations

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

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