Robust fixed‐time consensus tracking with application to formation control of unicycles

Command filtered finite‐time formation tracking control of AUVs with unknown control directions

“…The finite‐time results have remarkable advantages in term of dynamic properties, such as higher accuracy, faster convergence rate, better robustness against uncertain disturbances, and so on [9]. Fortunately, some recent advances showed that it is indeed feasible to realise formation control within a finite settling time [10–14]. Although the idea is promising, no results on formation control of AUVs have been seen in the literature yet, except for a study of finite‐time trajectory tracking control of single AUV in [15].…”

Time‐varying formation of second‐order discrete‐time multi‐agent systems under non‐uniform communication delays and switching topology with application to UAV formation flying

“…Formation control problems for multi‐agent systems with first‐order [6–8], second‐order [9–12], and high‐order [13] dynamics have been extensively studied. However, these researches focus on the fixed formation problem.…”

“…Using four quadrotor UAVs, two experiments are given to verify the effectiveness and reliability of the proposed formation protocol. In [6–13, 22–29], and [32, 33, 35, 44, 53], the proposed formation protocols are only verified by numerical simulations.…”

Distributed integral control of multiple UAVs: precise flocking and navigation

“…In fact, models of several systems such as, drones, rovers, vessels etc., that are used for multiple-agent applications, could be simply approximated as a second-order systems. Several studies have used this approach for modelling and designing control algorithms for multiple-agent systems [9] [14] [18] [19] [20] [21].…”

“…A group consensus protocol is proposed in [19] to solve the problem of group consensus for heterogeneous multi‐agent systems modelled as discrete‐time first‐ and second‐order agents. In [20], the authors propose a non‐linear protocol for second‐order multi‐agent systems to achieve a robust fixed‐time consensus tracking using sliding mode control and Lyapunov theory.…”