Rigidity Based Time-Varying Formation Tracking Control for Autonomous Underwater Vehicles with Switching Topologies

2021 ◽  
pp. 359-369
Author(s):  
Wen Pang ◽  
Chenxia Liu ◽  
Linling Wang ◽  
Daqi Zhu
Keyword(s):  
Tracking Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Time Varying ◽  
Switching Topologies ◽  
Formation Tracking

Time-varying formation finite-time tracking control for multi-UAV systems under jointly connected topologies

2017 ◽  
Vol 10 (4) ◽  
pp. 478-490 ◽  
Author(s):  
Tianyi Xiong ◽  
Zhiqiang Pu ◽  
Jianqiang Yi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Formation Control ◽  
Time Varying ◽  
Content Type ◽  
Finite Time Stability ◽  
Control Protocol ◽  
Finite Time Convergence ◽  
Switching Topologies ◽  
Formation Tracking

Purpose The purpose of this paper is to investigate the time-varying finite-time formation tracking control problem for multiple unmanned aerial vehicle systems under switching topologies, where the states of the unmanned aerial vehicles need to form desired time-varying formations while tracking the trajectory of the virtual leader in finite time under jointly connected topologies. Design/methodology/approach A consensus-based formation control protocol is constructed to achieve the desired formation. In this paper, the time-varying formation is specified by a piecewise continuously differentiable vector, while the finite-time convergence is guaranteed by utilizing a non-linear function. Based on the graph theory, the finite-time stability of the close-loop system with the proposed control protocol under jointly connected topologies is proven by applying LaSalle’s invariance principle and the theory of homogeneity with dilation. Findings The effectiveness of the proposed protocol is verified by numerical simulations. Consequently, the proposed protocol can successfully achieve the predefined time-varying formation in finite time under jointly connected topologies while tracking the trajectory generated by the leader. Originality/value This paper proposes a solution to simultaneously solve the control problems of time-varying formation tracking, finite-time convergence, and switching topologies.

scholarly journals Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Ran Zhen ◽  
Yating Jin ◽  
Xiaojing Wu ◽  
Xueli Wu ◽  
Xuan Lv
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Time Varying ◽  
Actuator Faults ◽  
Control Protocol ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Uav Swarm ◽  
Aerial Vehicle

This paper investigates fault-tolerant time-varying formation tracking control problems for unmanned aerial vehicle (UAV) swarm systems with switching topologies. Actuator faults such as loss of effectiveness and bias fault are mainly considered. Firstly, based on graph theory, an adaptive fault-tolerant time-varying formation tracking control protocol is constructed with adaptive updating parameters and the relative information of the neighboring UAVs, and the feasibility condition for formation tracking is given. The control protocol does not depend on the information of the actuator fault boundary by using adaptive technology. Then, by constructing a reasonable Lyapunov function and solving the algebraic Riccati equation, the stability of the designed controller is proved. For UAV swarm systems with switching topologies and actuator faults, the formation tracking control protocol designed is adopted to enable the followers form the desired time-varying formation and track the leader’s status at the same time. Finally, the simulation examples are given to illustrate the effectiveness of the theoretical results.

scholarly journals Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4374
Author(s):  
Jose Bernardo Martinez ◽  
Hector M. Becerra ◽  
David Gomez-Gutierrez
Keyword(s):  
Obstacle Avoidance ◽  
Tracking Control ◽  
Global Coordinate System ◽  
Avoidance Task ◽  
Time Varying ◽  
Control Laws ◽  
Formation Tracking ◽  
Control Scheme ◽  
First Time ◽  
Hierarchical Scheme

In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks involved in the problem, effectively combining control laws devoted to achieve formation tracking and obstacle avoidance. The main contributions of the paper are twofold: first, the advantages of the proposed approach are not all integrated in existing schemes, ours is fully distributed since the formulation is based on consensus including the leader as part of the formation, scalable for a large number of robots, generic to define a desired formation, and it does not require a global coordinate system or a map of the environment. Second, to the authors’ knowledge, it is the first time that a distributed formation tracking control is combined with obstacle avoidance to solve both tasks simultaneously using a hierarchical scheme, thus guaranteeing continuous robots velocities in spite of activation/deactivation of the obstacle avoidance task, and stability is proven even in the transition of tasks. The effectiveness of the approach is shown through simulations and experiments with real robots.

scholarly journals Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 941
Author(s):  
Tianhao Sun ◽  
Huiying Liu ◽  
Yongming Yao ◽  
Tianyu Li ◽  
Zhibo Cheng
Keyword(s):  
Switching Topology ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

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