Theory and Experiment on Formation-Containment Control of Multiple Multirotor Unmanned Aerial Vehicle Systems

Summary This paper presents a novel distributed adaptive control algorithm for uncertain higher‐order nonlinear multiagent systems subject to output constraints and unknown control directions. Regarding the latter, a generic class of cases is considered, allowing completely unknown and even nonidentical control directions. Furthermore, the communication topology is only required to contain a fixed directed spanning tree. To guarantee the output constraints and address the asymmetric directed communication topology, a new reference output using the transformation strategy is introduced for each agent, benefiting from which the consensus problem of the multiagent system is recast as local tracking control problems of single agents. Then, the distributed control algorithm is recursively established based on the backstepping technique and the Nussbaum‐type function. By leveraging the unique properties of the Laplacian matrix on directed graphs and matrix theory, it is shown that, under the proposed distributed algorithm, uniform boundedness of all closed‐loop signals can be ensured, and asymptotic consensus is achieved without violation of the output constraints. Finally, simulation studies on the angle control of single‐link robots are given to verify the effectiveness of the proposed algorithm.

Section: Resultsmentioning

confidence: 99%

Consensus control of output‐constrained multiagent systems with unknown control directions under a directed graph

Wang

Cai

2020

“…8,19 On another research field, the control problems of the complex systems have gained considerable research interest because that the nonlinearity, external disturbances, and time-varying characteristics are inevitably in engineering practice. [20][21][22][23] Among the varieties of control methods coping with nonlinearity and disturbances, the active disturbance rejection control (ADRC) method has been well recognized to be very effective, which uses a composite control involving of a feedforward term and a feedback term. 24,25 In the context of ADRC, the extended state observer (ESO) is critical which could estimate the aggregated effect of nonlinearity and disturbances only by system outputs and inputs.…”

Section: Introductionmentioning

confidence: 99%

A novel event‐triggered extended state observer for networked control systems subjected to external disturbances

Yuan

Yang

et al. 2019

Summary In this paper, the event‐triggered‐based state estimation problem is investigated for a class of nonlinear networked control systems subjected to external disturbances. A novel event‐triggered extended state observer (ESO) is utilized to estimate the so‐called total disturbance, and an output predictor is adopted for the proposed ESO between two consecutive transmission instants. It is also worth pointing out that, in the newly proposed ESO, an event‐triggered mechanism is adopted to update the measurement signal so as to save the communication resource. The sufficient conditions are provided such that the estimation error dynamics is exponentially ultimately bounded. Furthermore, it is proven that the Zeno behavior does not exist for the event‐triggering rules. A number of numerical simulations are conducted to verify the validity of the theoretical results.

“…In recent years, cooperative control of multiagent systems has attracted extensive attention due to its wide applications in synchronization, formation control, flocking, and so on. In nature, birds formation maintains a V shape to reduce energy consumption during flight; ants keep a certain distance to optimize foraging efficiency .…”

Section: Introductionmentioning

confidence: 99%

Formation control of singular multiagent systems with switching topologies

Liu

Xie

et al. 2019

Summary This paper is concerned with the time‐varying formation control problem for singular multiagent systems with switching topologies. First, in order to eliminate the pulse solution of singular systems and extend the formation function set, the distributed formation controller has been formulated based on the output information of the agents. Then, the explicit expression of formation position function is presented based on the impulse free and the equivalent transformation of singular multiagent systems. Next, the sufficient and necessary conditions of the feasibility of the formation function are provided. Moreover, the sufficient conditions of formation control of singular multiagent systems with switching topologies are presented and the algorithm is designed to solve the distributed controller. Finally, the validity of the proposed approaches is verified by numerical simulation in this paper.