Distributed adaptive control for distance-based formation and flocking control of multi-agent systems
In this study, a distributed adaptive control strategy for distance-based formation and flocking control of multi-agent system with parametric uncertainty is proposed. A 3-agent leader-first-follower system is considered first. The agents are supposed to have non-identical dynamics, whereas with sim...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
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2020
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| Online Access: | https://hdl.handle.net/10356/143001 |
| _version_ | 1826126594612133888 |
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| author | Zou, Ying Wen, Changyun Guan, Mingyang |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Zou, Ying Wen, Changyun Guan, Mingyang |
| author_sort | Zou, Ying |
| collection | NTU |
| description | In this study, a distributed adaptive control strategy for distance-based formation and flocking control of multi-agent system with parametric uncertainty is proposed. A 3-agent leader-first-follower system is considered first. The agents are supposed to have non-identical dynamics, whereas with similar structure. By introducing two new variables that involve distance error and velocity error and utilising them in the controller design, global convergence of all agents to the desired formation and to the velocity of the leader is established. Finally, the three-agent case is inductively extended to N-agent case. The stability and the effectiveness of the proposed control strategy are analysed in theory and demonstrated through simulation results, respectively. |
| first_indexed | 2024-10-01T06:55:13Z |
| format | Journal Article |
| id | ntu-10356/143001 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:55:13Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1430012020-07-20T08:39:46Z Distributed adaptive control for distance-based formation and flocking control of multi-agent systems Zou, Ying Wen, Changyun Guan, Mingyang School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Multi-agent Systems Formation Control In this study, a distributed adaptive control strategy for distance-based formation and flocking control of multi-agent system with parametric uncertainty is proposed. A 3-agent leader-first-follower system is considered first. The agents are supposed to have non-identical dynamics, whereas with similar structure. By introducing two new variables that involve distance error and velocity error and utilising them in the controller design, global convergence of all agents to the desired formation and to the velocity of the leader is established. Finally, the three-agent case is inductively extended to N-agent case. The stability and the effectiveness of the proposed control strategy are analysed in theory and demonstrated through simulation results, respectively. NRF (Natl Research Foundation, S’pore) Accepted version 2020-07-20T08:39:45Z 2020-07-20T08:39:45Z 2019 Journal Article Zou, Y., Wen, C., & Guan, M. (2019). Distributed adaptive control for distance-based formation and flocking control of multi-agent systems. IET Control Theory & Applications, 13(6), 878-885. doi:10.1049/iet-cta.2018.6001 1751-8644 https://hdl.handle.net/10356/143001 10.1049/iet-cta.2018.6001 6 13 878 885 en MHRP2 IET Control Theory & Applications This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory & Applications and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at IET Digital Library. application/pdf |
| spellingShingle | Engineering::Electrical and electronic engineering Multi-agent Systems Formation Control Zou, Ying Wen, Changyun Guan, Mingyang Distributed adaptive control for distance-based formation and flocking control of multi-agent systems |
| title | Distributed adaptive control for distance-based formation and flocking control of multi-agent systems |
| title_full | Distributed adaptive control for distance-based formation and flocking control of multi-agent systems |
| title_fullStr | Distributed adaptive control for distance-based formation and flocking control of multi-agent systems |
| title_full_unstemmed | Distributed adaptive control for distance-based formation and flocking control of multi-agent systems |
| title_short | Distributed adaptive control for distance-based formation and flocking control of multi-agent systems |
| title_sort | distributed adaptive control for distance based formation and flocking control of multi agent systems |
| topic | Engineering::Electrical and electronic engineering Multi-agent Systems Formation Control |
| url | https://hdl.handle.net/10356/143001 |
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