Distributed adaptive containment control for a group of aerial robots with external disturbances

2021 ◽  
Author(s):  
Farhad Arab ◽  
Farzad A. Shirazi ◽  
Mohammad Reza Hairi Yazdi
Keyword(s):  
External Disturbances ◽  
Containment Control ◽  
Aerial Robots

scholarly journals Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Qidan Zhu ◽  
Junda Ma ◽  
Zhilin Liu ◽  
Ke Liu
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Parameter Uncertainties ◽  
Feedback Form ◽  
Tracking Errors ◽  
External Disturbances ◽  
Simulation Experiments ◽  
Containment Control ◽  
State Information ◽  
Control Objective

An implementable robust containment control algorithm is proposed for a group of underactuated ships in the presence of hydrodynamic parameter uncertainties and external disturbances. The control objective is to drive all the followers into the convex hull spanned by the virtual leaders, whose state information is available only to a subset of the followers. For this purpose, the ship model is primarily transformed to a strict-feedback form. In the kinematic design, a virtual containment controller, requiring the state information from its neighbors, is presented based on the results obtained from graph theory. In the dynamic design, a robust containment controller is developed through utilizing upper-to-up sliding mode control. In addition, in order to simplify the implementations of the control law, the command filtered backstepping (CFBP) method is introduced to prevent the analytic differentiations of the virtual law from each design step of the backstepping (BP) method. Subsequently, it is well proven that all the tracking errors could converge to and remain small neighborhoods of the equilibrium point. Finally, several simulation experiments are conducted to demonstrate the performance of the proposed control algorithm.

Finite-time containment control for nonlinear multi-agent systems with external disturbances

2020 ◽  
Vol 512 ◽  
pp. 338-351 ◽  
Author(s):  
Hui Lü ◽  
Wangli He ◽  
Qing-Long Han ◽  
Xiaohua Ge ◽  
Chen Peng
Keyword(s):  
Finite Time ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent

scholarly journals Event-Triggered Fixed-Time Integral Sliding Mode Control for Nonlinear Multi-Agent Systems with Disturbances

Entropy ◽  
2021 ◽  
Vol 23 (11) ◽  
pp. 1412
Author(s):  
Xue Li ◽  
Zhiyong Yu ◽  
Haijun Jiang
Keyword(s):  
Sliding Mode ◽  
Fixed Time ◽  
Control Parameters ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Containment Control ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Event Triggered

In this paper, the leader-following consensus problem of first-order nonlinear multi-agent systems (FONMASs) with external disturbances is studied. Firstly, a novel distributed fixed-time sliding mode manifold is designed and a new static event-triggered protocol over general directed graph is proposed which can well suppress the external disturbances and make the FONMASs achieve leader-following consensus in fixed-time. Based on fixed-time stability theory and inequality technique, the conditions to be satisfied by the control parameters are obtained and the Zeno behavior can be avoided. In addition, we improve the proposed protocol and propose a new event-triggering strategy for the FONMASs with multiple leaders. The systems can reach the sliding mode surface and achieve containment control in fixed-time if the control parameters are designed carefully. Finally, several numerical simulations are given to show the effectiveness of the proposed protocols.

Fixed-time Containment Control for Nonlinear Multi-agent Systems with External Disturbances

2021 ◽  
pp. 1-1
Author(s):  
Luxiang Wang ◽  
Xiaoyang Liu ◽  
Jinde Cao ◽  
Xiaoting Hu
Keyword(s):  
Fixed Time ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent

Nonlinear Predictive Attitude Control of Spacecraft under External Disturbances

2003 ◽  
Vol 40 (5) ◽  
Author(s):  
Hyun-Sam Myung ◽  
Hyochoong Bang
Keyword(s):  
Attitude Control ◽  
External Disturbances

scholarly journals Fig Plant Segmentation from Aerial Images Using a Deep Convolutional Encoder-Decoder Network

2019 ◽  
Vol 11 (10) ◽  
pp. 1157 ◽  
Author(s):  
Jorge Fuentes-Pacheco ◽  
Juan Torres-Olivares ◽  
Edgar Roman-Rangel ◽  
Salvador Cervantes ◽  
Porfirio Juarez-Lopez ◽  
...  
Keyword(s):  
Precision Agriculture ◽  
Image Data ◽  
Ground Truth ◽  
Aerial Images ◽  
Aerial Image ◽  
Data Set ◽  
Visual Appearance ◽  
Aerial Robots ◽  
Lighting Conditions ◽  
Convolutional Encoder

Crop segmentation is an important task in Precision Agriculture, where the use of aerial robots with an on-board camera has contributed to the development of new solution alternatives. We address the problem of fig plant segmentation in top-view RGB (Red-Green-Blue) images of a crop grown under open-field difficult circumstances of complex lighting conditions and non-ideal crop maintenance practices defined by local farmers. We present a Convolutional Neural Network (CNN) with an encoder-decoder architecture that classifies each pixel as crop or non-crop using only raw colour images as input. Our approach achieves a mean accuracy of 93.85% despite the complexity of the background and a highly variable visual appearance of the leaves. We make available our CNN code to the research community, as well as the aerial image data set and a hand-made ground truth segmentation with pixel precision to facilitate the comparison among different algorithms.

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