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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 197-213页

作者： Yanping YANG Siyu MA Dawei LI Jinghui SUO College of Information Science and Technology Donghua UniversityShanghai201620China Engineering Research Center of Digitized Textile&Apparel Technology Donghua UniversityShanghai201620China State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Information Science and TechnologyDonghua UniversityShanghai201620China

This paper is concerned with the scaled formation control problem for multi-agent systems(MASs)over fixed and switching topologies.First,a modified resilient dynamic event-triggered(DET)mechanism involving an auxiliary dynamic variable(ADV)based on sampled data is proposed.In the proposed DET mechanism,a random variable obeying the Bernoulli distribution is introduced to express the idle and busy situations of communication networks.Meanwhile,the operation of absolute value is introduced into the triggering condition to effectively reduce the formation error.Second,a scaled formation control protocol with the proposed resilient DET mechanism is designed over fixed and switching topologies.The scaled formation error system is modeled as a time-varying delay system.Then,several sufficient stability criteria are derived by constructing appropriate Lyapunov-Krasovskii functionals(LKFs).A co-design algorithm based on the sparrow search algorithm(SSA)is presented to design the control gains and triggering parameters jointly.Finally,numerical simulations of multiple unmanned aerial vehicles(UAVs)are presented to validate the designed control method.

关键词： Scaled consensus formation control Dynamic event-triggered scheme Switching topology

Neural-network-based fully distributed formation control for nonlinear multi-agent systems with event-triggered communication

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Science China(Technological Sciences) 2024年第1期67卷 209-220页

作者： ZHU GuoLiang LIU KeXin GU HaiBo LÜJinHu School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Zhongguancun Laboratory Beijing 100094China

This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynamics.To achieve the desired formation,we propose two formation controllers to achieve the desired formation,one based on system states and the other on system outputs.The proposed controllers utilize adaptive gains to avoid global information and neural networks to estimate and compensate for nonlinearities.The proposed event-triggered schemes avoid continuous communication among agents and exclude the Zeno behavior.Stability analysis reveals that formation errors are bounded,and numerical simulations are used to validate the effectiveness of the proposed approaches.

关键词： formation control neural network adaptive control event-triggered communication multi-agent systems

formation control of quad-rotor UAV via PIO

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Science China(Technological Sciences) 2022年第2期65卷 432-439页

作者： BAI TingTing WANG DaoBo MASOOD Rana Javed College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China Department of Electrical Engineering Usman Institute of TechnologyKarachi 75850Pakistan

In this article, the formation control of quad-rotor unmanned aerial vehicle(UAV) via pigeon inspired optimization(PIO) is designed. The nonlinear mathematical model of the quad-rotor UAV is used by applying algebraic graph theory and matrix analysis. A high order consistent formation control algorithm with fixed control topology is designed by using a position deviation matrix to describe its formation. To control the attitude of quad-rotor UAVs, it is difficult to obtain a set of optimal solutions, and hence a PIO based algorithm with variable weight hybridization is proposed. The algorithm is mainly composed of two parts. First, according to the distance between the particles in the iterative process, the inertia weight is dynamically changed,and the coefficient is adjusted to control the degree of influence on its inertia weight. Second, the overall scenario is designed by using MATLAB based simulations which show that the formation control of the quad-rotor UAV is achieved with the help of PIO.

关键词： pigeon inspired optimization formation control unmanned aerial vehicle and quad-rotor UAV

Fixed-Time Leader-Following formation control of Fully-Actuated Underwater Vehicles Without Velocity Measurements

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Journal of Systems Science & Complexity 2022年第2期35卷 559-585页

作者： GAO Zhenyu ZHANG Yi GUO Ge School of control Engineering Northeastern University at QinhuangdaoQinhuangdao 066004China

This paper is concerned with formation control of fully-actuated underwater vehicles(FUVs),focusing on improving system convergence speed and overcoming velocity measurement limitation.By employing the fixed-time control theory and command filtering technique,a full state feedback formation algorithm is proposed,which makes the follower track the leader in a given time with all signals in the system globally practically stabilized in fixed time.To avoid degraded control performance due to inaccurate velocity measurement,a fixed-time convergent observer is designed to estimate the velocity of FUVs.Then the authors give an observer-based fixed-time control method,with which acceptable formation performance can be achieved in fixed time without velocity measurement.The effectiveness and performance of the proposed method are demonstrated by numerical simulations.

关键词： Fixed-time control formation control fully-actuated underwater vehicles(FUVs) state feedback control velocity observer

Quantized formation control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology

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Journal of Systems Science & Complexity 2023年第6期36卷 2382-2397页

作者： LIU Ying HU Jun LI Yongming Navigation College Dalian Maritime UniversityDalian116026China Neusoft Reachauto Corporation Shenyang110179China College of Science Liaoning University of TechnologyJinzhou121001China

This paper studies the formation control problem for the second-order heterogeneous nonlinear multi-agent systems(MASs)with switching topology and quantized control inputs.Compared with formation control under the fixed topology,under the switching topology inherent nonlinear dynamics of the agent and the connectivity change of the communication topology are considered.Moreover,to avoid the chattering phenomenon caused by unknown input disturbances,the hysteretic quantizers are incorporated to quantize the input signals.By using the Lyapunov stability theory and leader-follower formation approach,the proposed formation control scheme ensures that all signals of the MASs are semi-globally uniformly ultimately bounded(SGUUB).Finally,the efficiency of the theoretical results is proved by a simulation example.

关键词： formation control heterogeneous multi-agent systems quantized control inputs switching topology

Distributed Event-Triggered formation control of USVs with Prescribed Performance

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Journal of Systems Science & Complexity 2022年第3期35卷 820-838页

作者： CHEN Guangdeng YAO Deyin ZHOU Qi LI Hongyi LU Renquan School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative control Guangdong University of TechnologyGuangzhou 510006China

In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed graph.Considering the risk of collision and the limited communication range of USVs,the prescribed performance control(PPC)methodology is employed to ensure collision avoidance and connectivity maintenance.An event-triggered mechanism is designed to reasonably use the limited communication resources.Moreover,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,respectively.Then,an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded(UUB).Finally,simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Event-triggered control formation control prescribed performance underactuated surface vessels(USVs)

Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation

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Chinese Journal of Aeronautics 2022年第1期35卷 44-58页

作者： Yuwei ZHANG Xingjian WANG Shaoping WANG Xinyu TIAN A School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft control Laboratory Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315800China

Most existing formation control approaches for Unmanned Aerial Vehicle(UAV)swarm assume that global position and global coordinate frame are directly available for each agent.To extend the application domain,this paper proposes a distributed bearing-based formation control scheme,without any reliance on global position or global coordinate frame.The interactions among UAVs are described by a directed topology with two-leader structure.To address the issue of unavailable global coordinate frame,we first present a distributed orientation estimation law for each UAV to determine its orientation under the coordinate frame of the first leader.Based on the orientation estimation,we then design a bearing-based formation control law to globally asymptotically track target moving formations.Finally,simulation results are provided to validate the proposed method,which show that the translation,scale and orientation of the formation can be flexibly controlled via two leaders.

关键词： Bearing measurement formation control Global orientation estimation Two-leader structure Unmanned aerial vehicles

Dynamic affine formation control of networked under-actuated quad-rotor UAVs with three-dimensional patterns

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Journal of Systems Engineering and Electronics 2022年第6期33卷 1269-1285页

作者： XU Yang ZHENG Weiming LUO Delin DUAN Haibin School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China Yangtze River Delta Research Institute Northwestern Polytechnical UniversityTaicang 215400China School of Aerospace Engineering Xiamen UniversityXiamen 361102China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results.

关键词： formation control quad-rotor unmanned aerial vehicle(UAV) hierarchical control

Distributed non‐ideal leader estimation and formation control for multiple non‐holonomic mobile robots

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IET Cyber-Systems and Robotics 2022年第3期4卷 163-174页

作者： Peifen Lu Zhigang Ren Zongze Wu Zhipeng Li Shichao Zhou School of Automation Guangdong Hong Kong Macao Joint Laboratory for Smart Discrete ManufacturingGuangdong University of TechnologyGuangzhouGuangdongChina Key Laboratory of Industrial Internet of Things&Networked control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqingChina College of Engineering Qufu Normal UniversityQufuShandongChina School of Statistics and Data Science Nanjing Audit UniversityNanjingJiangsuChina

This paper studies a distributed formation problem for non‐holonomic mobile robots.Consideration of the leader dynamics of the robots as non‐ideal,that is,subject to dis-turbances/unmodelled variables,is the distinguishing feature of this work.The issue is resolved by a distributed combined disturbance‐and‐leader estimator,allowing for the distributed reconstruction of the leader's signals.The estimator needs to detect the leader's information and disturbance.In order to reject such disturbance and achieve the formation asymptotically,the control law incorporates the smooth estimator's estimate of the leader disturbance.Furthermore,the stability of the total distributed formation control algorithm is also examined using the Lyapunov technique.Finally,to show the viability of the pro-posed theoretical results,simulations and actual experiments are carried out.

关键词： distributed estimator disturbed leader formation control multiagent system nonholonomic mobile robots

formation control and collision avoidance for multi-UAV systems based on Voronoi partition

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Science China(Technological Sciences) 2020年第1期63卷 65-72页

作者： HU JinWen WANG Man ZHAO ChunHui PAN Quan DU Chang School of Automation Northwestern Polytechnical University

This paper deals with the formation control problem of multiple unmanned aerial vehicles(UAVs) with collision avoidance. A distributed formation control and collision avoidance method is proposed based on Voronoi partition and conventional artificial potential field. The collision avoidance is achieved by partitioning the whole space into non-overlapping regions based on Voronoi partition theory, which is taken as the task region to confine the movement of each UAV. The general motion control law is designed based on the conventional artificial potential field. As this often leads to local optimum when two UAVs are going to collide with each other and they may stay still where the repulsive force is adversely equivalent to the attractive force. To address this problem,the destination switch scheme is further proposed to let UAVs switch destinations when they reach the local equilibrium. Finally,the effectiveness of proposed formation control algorithm is validated by simulations and experiments.

关键词： unmanned aerial vehicles formation control Voronoi partition artificial potential field