Multi-Agent Trajectory-Tracking Flexible Formation via Generalized Flocking and Leader-Average Sliding Mode Control

Abstract

This paper reports a flexible (or time-varying) multi-agent formation approach with average trajectory tracking for second-order integral multi-agent networks with single virtual leaders. The approach is developed by means of time-varying Olfati-Saber flocking algorithms, and sliding mode control (SMC) in terms of the leader-average dynamics. More precisely, SMC-specifying average trajectory tracking is combined with flexible multi-agent flocking driven by the Olfati-Saber flocking algorithms with timevarying weighting norm. Existence conditions and properties of the suggested multi-agent formation are examined rigorously, together with implementation formulas. It is shown that by designing the sliding surface and the time-varying weighting matrix appropriately, flexible formation with finite-time trajectory tracking can be achieved, free of control action chattering; moreover, the sliding mode control and formation control can be designed separately. Numerical examples are given to illustrate the main results. INDEX TERMS Multi-agent, flexible flocking formation, leader-average model, sliding mode control, trajectory tracking.

Time-Varying Consensus Control Method of Hybrid Hierarchical Distributed Formation

“…Thirdly, when the formation executes different tasks, the distance between formation members and formation structure should be changed according to needs. At present, the formation structure mainly includes horizontal formation, vertical formation, wedge, and diamond [27][28][29]. Considering the small volume of agent used in this study, the aerodynamic impact between agents is large during low altitude flight, and the aerodynamic interference will directly affect and change the forces on aircraft at different positions of the formation.…”

Adaptive Fuzzy-Sliding Consensus Control for Euler–Lagrange Systems with Time-Varying Delays

“…It is noted that eorem 1 proposed a delaydependent sufficient condition of stability for the sliding surfaces (9) based on the LMIs ( 16). e error function (12) with time-varying communication delay will converge to zero as t ⟶ ∞. Also, the allowable bound of time-varying delays can be obtained.…”

“…Cooperative control of multiagent systems has attracted much attention in recent years, such as consensus [1][2][3][4], formation [5][6][7][8], and flocking problems [9][10][11][12]. e solving of the consensus problem is an essential and interesting topic of cooperative multiagent research.…”

Investigating Formation and Containment Problem for Nonlinear Multi-Agent Systems via Interval Type-2 Fuzzy Sliding Mode Tracking Approach

“…There are many researchers successfully using the SMC to enhance the performance of Tracking Control (TC) for practical applications [13]. Solving the formation problem of NMASs, some SMC approaches have been developed [14]. However, the SMC inputs consist of nonlinear form, which will increase the difficulties in the controller design of practical systems.…”