Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach
Although the formation control of multi-agent systems has been widely investigated from various aspects, the problem is still not well resolved, especially for the case of distributed output-feedback formation controller design without input information exchange among neighboring agents. Using relat...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-01-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/24/2/589 |
| _version_ | 1827369362506383360 |
|---|---|
| author | Yuting Feng Shuai Sun Yuezu Lv Changhao Sun |
| author_facet | Yuting Feng Shuai Sun Yuezu Lv Changhao Sun |
| author_sort | Yuting Feng |
| collection | DOAJ |
| description | Although the formation control of multi-agent systems has been widely investigated from various aspects, the problem is still not well resolved, especially for the case of distributed output-feedback formation controller design without input information exchange among neighboring agents. Using relative output information, this paper presents a novel distributed reduced-order estimation of the formation error at a predefined time. Based on the proposed distributed observer, a neural-network-based formation controller is then designed for multi-agent systems with connected graphs. The results are verified by both theoretical demonstration and simulation example. |
| first_indexed | 2024-03-08T09:47:04Z |
| format | Article |
| id | doaj.art-ce91c35c92904ae5a628c4e9c3642153 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-08T09:47:04Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ce91c35c92904ae5a628c4e9c36421532024-01-29T14:16:47ZengMDPI AGSensors1424-82202024-01-0124258910.3390/s24020589Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer ApproachYuting Feng0Shuai Sun1Yuezu Lv2Changhao Sun3Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, ChinaBeijing Institute of Control Engineering, Beijing 100190, ChinaAdvanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing 100081, ChinaQian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, ChinaAlthough the formation control of multi-agent systems has been widely investigated from various aspects, the problem is still not well resolved, especially for the case of distributed output-feedback formation controller design without input information exchange among neighboring agents. Using relative output information, this paper presents a novel distributed reduced-order estimation of the formation error at a predefined time. Based on the proposed distributed observer, a neural-network-based formation controller is then designed for multi-agent systems with connected graphs. The results are verified by both theoretical demonstration and simulation example.https://www.mdpi.com/1424-8220/24/2/589reduced-order observerappointed-time estimationformation controlmulti-agent system |
| spellingShingle | Yuting Feng Shuai Sun Yuezu Lv Changhao Sun Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach Sensors reduced-order observer appointed-time estimation formation control multi-agent system |
| title | Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach |
| title_full | Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach |
| title_fullStr | Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach |
| title_full_unstemmed | Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach |
| title_short | Distributed NN-Based Formation Control of Multi-Agent Systems: A Reduced-Order Appointed-Time Observer Approach |
| title_sort | distributed nn based formation control of multi agent systems a reduced order appointed time observer approach |
| topic | reduced-order observer appointed-time estimation formation control multi-agent system |
| url | https://www.mdpi.com/1424-8220/24/2/589 |
| work_keys_str_mv | AT yutingfeng distributednnbasedformationcontrolofmultiagentsystemsareducedorderappointedtimeobserverapproach AT shuaisun distributednnbasedformationcontrolofmultiagentsystemsareducedorderappointedtimeobserverapproach AT yuezulv distributednnbasedformationcontrolofmultiagentsystemsareducedorderappointedtimeobserverapproach AT changhaosun distributednnbasedformationcontrolofmultiagentsystemsareducedorderappointedtimeobserverapproach |