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time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies

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Chinese Physics B 2018年第4期27卷 228-235页

作者： Jin-Huan Wang Yu-Ling Xu Jian Zhang De-Dong Yang School of Science Hebei Provincial Key Laboratory of Big Data Calculation Hebei University of Technology Tianjin 300401 China School of Control Science and Engineering Hebei University of Technology Tianjin 300130 China

This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control *** from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event *** interaction topology among agents is assumed to be *** common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation ***,the Zeno behavior of triggering time sequences can be excluded for each ***,a simulation example is presented to illustrate the effectiveness of the theoretical results.

关键词： multi-agent systems time-varying formation switching topologies event-triggered control

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time-varying formation Tracking Control for Multi-agent Systems with Input Saturation

Time-varying Formation Tracking Control for Multi-agent Syst...

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第36届中国控制会议

作者： Xiaoduo Li Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

This paper investigates the problem of formation control for multi-agent systems with general linear dynamics and input *** time-varying formation tracking this paper deal with is required to be piecewise ***,a time-varying formation control protocol is *** an algorithm consisting of 3 steps to design the formation control protocol is *** follows,it is proven that under the designed formation control protocol,the multi-agent systems with input saturation can achieve the desired time-varying formation tracking which belongs to the feasible formation ***,numerical simulations are presented to verify the effectiveness of the proposed algorithms.

关键词： time-varying formation multi-agent system input saturation general linear dynamics

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Observer-based self-triggered control for time-varying formation of multi-agent systems

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Science China(Information Sciences) 2021年第3期64卷 177-192页

作者： Xiaofeng CHAI Jian LIU Yao YU Changyin SUN School of Automation and Electrical Engineering University of Science and Technology Beijing School of Automation Southeast University

This paper studies the time-varying formation problem of general multi-agent systems with undirected topology via observer-based event-triggered control schemes. The distributed event-triggered control scheme and self-triggered control scheme are developed respectively. Each agent updates its next event time using current information without continuous communication in self-triggered control *** error and state estimation error are considered simultaneously to get more accurate ***, it is only when a request is received that each agent broadcasts its information. It is demonstrated that the time-varying formation can be achieved asymptotically under the two proposed control schemes and Zeno behavior can be excluded. Finally, numerical examples are provided to illustrate the effectiveness of the proposed observer-based event-triggered control strategies.

关键词： multi-agent systems time-varying formation states observer event-triggered

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Robust adaptive time-varying formation control for high-order linear uncertain multi-agent systems

Robust adaptive time-varying formation control for high-orde...

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第36届中国控制会议

作者： Yongzhao Hua Xiwang Dong Qingdong Li Zhang Ren Yuan Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are ***,using the adaptive updating mechanism,a fully distributed timevarying formation control protocol is *** protocol is determined by each agent in a fully distributed form and does not need any global information about the interaction ***,time-varying formation feasible conditions and an approach to expand the feasible formation set are ***,the stability of the proposed approach is proved based on the Lyapunov ***,a simulation example is given to verify the effectiveness of the theoretical results.

关键词： time-varying formation Adaptive control Robust control Multi-agent system

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time-varying formation pursuit based cooperative guidance for multiple missiles to intercept a maneuvering target

Time-varying formation pursuit based cooperative guidance fo...

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第37届中国控制会议

作者： Qilun Zhao Xiwang Dong Xun Song Zhang Ren Beijing Institute of Electronic System Engineering School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

time-varying formation pursuit based cooperative（TFPBC） guidance for multiple missiles to intercept a maneuvering target is investigated. In TFPBC guidance, multiple missiles are not only expected to intercept the target simultaneously but also need to form a desired time-varying formation configuration during the engagement. The motivation for TFPBC guidance is to create a favorable relative geometry for multiple missiles, which may enclose a maneuvering target and then improve the hit performance. Multiple missiles are classified into leader missile and follower missiles. TFPBC guidance law for the leader missile and follower missiles is constructed, respectively. An approach with four steps to determine the parameters in the TFPBC guidance law is given. The convergence of the designed TFPBC guidance law is proved. A numerical example for multiple missiles to intercept a maneuvering target is provided.

关键词： Missile guidance law cooperative guidance salvo attack time-varying formation maneuvering target

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Adaptive Bipartite time-varying formation Control for Multi-Agent Systems on Directed Graph

Adaptive Bipartite Time-Varying Formation Control for Multi-...

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第三十九届中国控制会议

作者： Chenhang Yan Wei Zhang Xiaohang Li Housheng Su Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science School of Artificial Intelligence and Automation Huazhong University of Science and Technology

Distributed bipartite time-varying formation control for multi-agent systems with a leader of unknown input on directed graphs is investigated. An adaptive non-smooth protocol proposed in this paper only utilizes the local output feedback information among neighboring agents and thus can avoid using eigenvalue information of the Laplacian matrix of the graph. It is shown that if the directed interaction network containing a spanning tree with the leader as the root is structurally balanced,then the bipartite time-varying formation tracking can be achieved with a leader of bounded input via the proposed scheme. A convergence analysis of the proposed protocol for multi-agent systems is reflected by the Lyapunov method. Finally, a validly numerical simulation is illustrated to show the performance of the proposed scheme.

关键词： time-varying formation multi-agent system bipartite graph distributed control cooperative control

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H∞ time-varying formation Control of Multiple Spacecraft System

H∞ Time-Varying Formation Control of Multiple Spacecraft Sy...

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第37届中国控制会议

作者： ZHOU Ning CHEN Riqing HUANG Jie WEN Guoxing College of Computer and Information Sciences Fujian Agriculture and Forestry University College of Electrical Engineering and Automation Fuzhou University College of Science Binzhou University

This paper discusses the problem of time-varying formation control for multiple spacecraft while achieving H performance. Firstly, an elaborate formation task function is designed by using estimator-based null-space based behavioral control method, and a predesigned desired velocity is calculated for each spacecraft. Then by employing backstepping technique associated with the universal approximation property of radial basis function neural networks(RBFNN), an adaptive H coordination control scheme is presented to drive all the spacecraft to implement the time-varying formation task in switching communication graph. Finally, rigorous theoretical analysis shows that the proposed algorithm implements the time-varying formation task successfully with H performance.

关键词： time-varying formation H∞ Control Neural Networks Control Spacecraft System

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Finite-time time-varying formation tracking for second-order multi-agent systems with a leader of fully unknown input

Finite-time time-varying formation tracking for second-order...

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第三十九届中国控制会议

作者： Ruiwen Liao Liang Han Xiwang Dong Fei Liu Qingdong Li Zhang Ren School of Sino-French Engineer Beihang University Automation Science and Electronic Engineering Beihang University Department of General Aviation Civil Aviation Management Institute of China

In this paper, finite-time time-varying formation tracking problems are investigated for second-order multi-agent systems（MAS） over directed topology, where the MAS consist of a leader with fully unknown input and several followers. The followers are required to realize the desired time-varying formation and to track the expected trajectory generated by the leader in finite time simultaneously. The method for solving the finite-time formation tracking problems involves the following ***, finite-time observers are designed for each follower, to get the estimated states of the leader. Then, a finite-time formation tracking algorithm is proposed by using the neighboring information. Furthermore, it is proved that the given formation tracking can be accomplished by the MAS in finite time by using the Lyapunov theory. Finally, a numerical example is given to verify the effectiveness of the theoretical results.

关键词： time-varying formation formation tracking finite-time control multi-agent systems fully unknown input

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time-varying group formation control for second-order multi-agent systems with switching directed topologies

Time-varying group formation control for second-order multi-...

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第36届中国控制会议

作者： Yangfan Li Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

time-varying group formation control problems for second-order multi-agent systems with switching directed topologies are studied in this *** agents in the multi-agent system are divided into subgroups to form pre-defined time-varying sub-formations and the directed topology can be switching which means that group formation and switching topologies are considered ***,a time-varying group formation protocol with switching directed topologies is proposed using local relative state information of each agent and its *** an algorithm to design the protocol is *** on the piecewise Lyapunov function theory,sufficient conditions for second-order multi-agent systems to achieve time-varying group formation with switching directed topologies are derived together with the time-varying group formation feasibility constraints and the threshold for the dwell ***,a numerical simulation with two subgroups is provided to demonstrate the effectiveness of the obtained theoretical results.

关键词： time-varying formation group formation second-order dynamics multi-agent system switching directed topology

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formation tracking control for time-delayed multi-agent systems with second-order dynamics

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Chinese Journal of Aeronautics 2017年第1期30卷 348-357页

作者： Han Liang Dong Xiwang Li Qingdong Ren Zhang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.

关键词： formation tracking control Multiple unmanned aerialvehicles Second-order dynamics time-delayed multi-agentsystems time-varying formation

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