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第36届中国控制会议

作者： Hongtao Xie Yi Dong Department of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538629185

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader,both of which are generated by a so-called exosystem with parametric *** combining internal model design,potential function technique and adaptive control,a distributed control strategy is proposed to maintain the connectivity of the communication network,to achieve the asymptotic tracking of all the followers to the output of the unknown leader system,as well as to reject unknown external disturbances.

关键词： multi-robot system connectivity preservation rendezvous internal model design

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Cost-effective distributed FTFC for uncertain nonholonomic mobile robot fleet with collision avoidance and connectivity preservation

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Journal of Automation and Intelligence 2023年第1期2卷 42-50页

作者： Xiucai Huang Zhengguo Li Frank L.Lewis Chongqing Key Laboratory of Intelligent Unmanned Systems School of AutomationChongqing UniversityChongqing400044China The SRO Department Institute for Infocomm Research138632Singapore The University of Texas at Arlington ArlingtonTX 76118USA

In this paper,the fault-tolerant formation control(FTFC)problem is investigated for a group of uncertain nonholonomic mobile robots with limited communication ranges and unpredicted actuator faults,where the communication between the robots is in a directed one-to-one *** order to guarantee the connectivity preservation and collision avoidance among the robots,some properly chosen performance functions are incorporated into the controller to per-assign the asymmetrical bounds for relative distance and bearing angle between each pair of adjacent mobile ***,the resultant control scheme remains at a costeffective level because its design does not use any velocity information from neighbors,any prior knowledge of system nonlinearities or any nonlinear approximator to account for them despite the presence of modeling uncertainties,unknown external disturbances,and unexpected actuator ***,each follower is derived to track the leader with the tracking errors regarding relative distance and bearing angle subject to prescribed transient and steady-state performance guarantees,***,all the closed-loop signals are ensured to be ultimately uniformly ***,a numerical example is simulated to verify the effectiveness of this methodology.

关键词： Fault-tolerant formation control Nonholonomic mobile robot connectivity preservation Collision avoidance

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Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

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Frontiers of Information Technology & Electronic Engineering 2020年第10期21卷 1494-1503页

作者： Rui ZHOU Yu FENG Bin DI Jiang ZHAO Yan HU School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China National Innovation Institute of Defense Technology Academy of Military Sciences PLA ChinaBeijing 100171China CETC Key Laboratory of Aerospace Information Applications Shijiazhuang 050081China

We investigate cooperative target tracking of multiple unmanned aerial vehicles(UAVs)with a limited communication *** is an integration of UAV motion control,target state estimation,and network topology *** first present the communication topology and basic notations for network connectivity,and introduce the distributed Kalman consensus ***,convergence and boundedness of the estimation errors using the filter are analyzed,and potential functions are proposed for communication link maintenance and collision *** taking stable target tracking into account,a distributed potential function based UAV motion controller is *** only the estimation of the target state rather than the state itself is available for UAV motion control and UAV motion can also affect the accuracy of state estimation,it is clear that the UAV motion control and target state estimation are ***,the stability and convergence properties of the coupled system under bounded noise are analyzed in detail and demonstrated by simulations.

关键词： Multi-UAV cooperative target tracking Network connectivity Kalman consensus filter Bounded noise connectivity preservation

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connectivity-preserving consensus of nonlinear switched multi-agent systems with predefined accuracy

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Science China(Technological Sciences) 2023年第6期66卷 1769-1783页

作者： YI JiaLe LI Jing CHEN XueMiao School of Mathematics and Statistics Xidian UniversityXi’an 710716China

This paper focuses on the connectivity-preserving consensus of nonlinear switched multi-agent systems with predefined ***,a unified error transformation is adopted to preserve the initial interaction pattern determined by agents’limited communication ranges and initial ***,the so-called congelation of variables method is used to handle the unknown aperiodically time-varying parameters,which are fast-varying in an unknown compact set with only their radii known a *** addition,a series of continuously differentiable functions are incorporated into the Lyapunov function to design the *** on Lyapunov stability theory,the proposed control algorithm guarantees that the consensus errors converge with a predefined accuracy,whereas most existing connectivity-preserving results can only ensure uniform ultimate ***,all closed-loop signals remain ***,two simulations are provided to validate the effectiveness of the proposed control protocol.

关键词： connectivity preservation predefined accuracy nonlinear switched multi-agent systems aperiodically time-varying parameters nonstrict-feedback structure

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Adaptive leader-following rendezvous and flocking for a class of uncertain second-order nonlinear multi-agent systems

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Control Theory and Technology 2017年第4期15卷 354-363页

作者： Wei Liu Jie Huang 1. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong China

In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators.

关键词： Adaptive control connectivity preservation multi-agent systems nonlinear systems

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Adaptive synchronization control of uncertain multiple USVs with prescribed performance and preserved connectivity

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Science China(Information Sciences) 2022年第9期65卷 299-300页

作者： Shude HE Shilu DAI Chao DONG School of Automation Science and Engineering South China University of Technology South China Sea Marine Survey and Technology Center

Dear editor,Cooperative control of multi-vehicle systems has recently received increasing attention from system and control engineering communities owing to its broad applications, such as coordinated exploration, cooperative carrying and cooperative patrolling [1]. A typical topic in this field is synchronization control, whose objective is to design control protocol for each vehicle using the local interaction with its neighbors to synchronize to the (virtual) leader.

关键词： Synchronization tracking control unmanned surface vehicles connectivity preservation prescribed performance adaptive control

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connectivity preserving design strategy for distributed adaptive cooperative control of networked uncertain nonholonomic mobile robots with unknown control directions

Connectivity preserving design strategy for distributed adap...

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第40届中国控制会议

作者： Yujing Xu Chaoli Wang Yang Jiang Department of Control Science and Engineering University of Shanghai for Science and Technology

This brief addresses a distributed adaptive asymptotically synchronous tracking problem based on guaranteed connectivity for networked uncertain nonholonomic mobile robots（NMRs） with unknown control directions. First, a radial basis function（RBF） neural network is used to approximate the unknown nonlinear functions, and a distributed nonlinear error surface is introduced to achieve synchronous tracking between NMRs and maintain the initial connectivity patterns. Then, a conditional inequality that allows multiple piecewise Nussbaum functions to achieve robust control is proposed to solve the problem of unknown control directions. Moreover, the proposed protocol ensures that all signals in the closed-loop system are globally bounded and the tracking errors converge asymptotically to zero. Finally, a simulation example verifies the effectiveness of the proposed adaptive laws.

关键词： connectivity preservation Distributed synchronized tracking Nonholonomic mobile robots Partially unknown control directions

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