Prescribed performance distance-based formation control of Multi-Agent Systems

Mehdifar, Farhad; Bechlioulis, Charalampos P.; Hashemzadeh, Farzad; Baradarannia, Mahdi

doi:10.1016/j.automatica.2020.109086

Cited by 132 publications

(55 citation statements)

References 31 publications

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“…Compared with the works of [32,36,37], we propose the tightness of every edge in the multi-agent systems to solve the relationship of vehicle platoon and free car. Except for the rigid graph for the distance-based formation control [38], we add the traffic rule to constrain the formation geometry.…”

Section: Contributionsmentioning

confidence: 99%

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Zheng

Wang

Cao

et al. 2021

IET Control Theory & Appl

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This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance-based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into velocity planning and vehicle dynamic control. A new velocity planning method is first developed via a distributed distance-based formation controller so that each vehicle can keep platoon and change lane. Then, for the vehicle dynamics with nonlinearities and bounded disturbances, an adaptive controller is designed for regulating driving/braking torque to achieve the longitudinal velocity output of the velocity planner. The steering controller is designed to adjust the yaw angle of each vehicle to track and change lanes. Furthermore, stability analysis is conducted based on the Lyapunov theory. Finally, the applications of the proposed control designs to various of automated highway system (AHS) scenarios including lane-change, curve lane and platoon overtaking, are simulated and numerically analysed to validate the effectiveness of theoretical results.

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Section: Contributionsmentioning

confidence: 99%

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Zheng

Wang

Cao

et al. 2021

IET Control Theory & Appl

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“…In addition, several works deal with practical aspects when implementing the proposed rigidity-based control strategies in real world settings. Among others, [8] considers robust distance-based formation control with prescribed performance, taking into account collision avoidance and connectivity maintenance between neighboring agents while they are subjected to unknown external disturbances; [9] considers the bearingonly formation control problem with limited visual sensing while [10] introduces estimators for controlling distance rigid formations under inconsistent measurements.…”

Section: Introductionmentioning

confidence: 99%

Angle-Constrained Formation Control for Circular Mobile Robots

Chan

Jayawardhana

Marina

2021

IEEE Control Syst. Lett.

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In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots' disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.

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“…During the past decades, the consensus issue for multi-agent systems has been paid extensive attention. This is mainly due to its wide practical applications in many fields including power systems, UVAs, formation control, and robotics [5]- [9]. Then a very important property in the study of consensus is the rate of convergence, FTC becoming one hot topic for its faster convergence and superior performance [10]- [12].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Practical Fast Finite-Time Consensus Protocols for High-Order Nonlinear Multi-Agent Systems With Full State Constraints

Shang

Cai

2021

IEEE Access

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This paper mainly addresses the issue of fast finite-time consensus (FTC) algorithms for a group of high-order uncertain nonlinear non-strict-feedback Multi-agent Systems (MASs) with time-varying asymmetric full state constraints. In order to guarantee the state constraints are satisfied, an appropriate asymmetric nonlinear mapping (NM) is employed to transform the original full state constrained system into a corresponding unconstrained one. Combining neural networks technology, graph theory, fast finitetime control theory and backstepping recursive design scheme, the uncertainties and non-strict-feedback form are considered to propose a distributed adaptive FTC protocol which can guarantee tracking error reaching a region in finite time. Finally, an example is given to show that the designed control law can perform effective control.INDEX TERMS multi-agent systems, fast finite-time control, non-strict-feedback structure, time-varying asymmetric state constraints.

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Prescribed performance distance-based formation control of Multi-Agent Systems

Cited by 132 publications

References 31 publications

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Angle-Constrained Formation Control for Circular Mobile Robots

Adaptive Practical Fast Finite-Time Consensus Protocols for High-Order Nonlinear Multi-Agent Systems With Full State Constraints

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