Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles

Purpose The purpose of this paper is to consider the leader-following formation control problem for nonholonomic vehicles based on a novel biologically inspired neurodynamics approach. Design/methodology/approach The interactions among the networked multi-vehicle system is modeled by an undirected graph. First, a distributed estimation law is proposed for each follower vehicle to estimate the state including the position, orientation and linear velocity of the leader. Then, a distributed formation tracking control law is designed based on the estimated state of the leader, where a bio-inspired neural dynamic is introduced to solve the impractical velocity jumps problem. Explicit stability and convergence analyses are presented using Lyapunov tools. Findings The effectiveness and efficiency of the proposed control law are demonstrated by numerical simulations and physical vehicle experiments. Consequently, the proposed protocol can successfully achieve the desired formation under connected topologies while tracking the trajectory generated by the leader. Originality/value This paper proposes a neurodynamics-based leader–follower formation tracking algorithm for multiple nonholonomic vehicles.

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Biologically-Inspired Learning and Adaptation of Self-Evolving Control for Networked Mobile Robots

Applied Sciences ◽

10.3390/app9051034 ◽

2019 ◽

Vol 9 (5) ◽

pp. 1034 ◽

Cited By ~ 5

Author(s):

Sendren Sheng-Dong Xu ◽

Hsu-Chih Huang ◽

Tai-Chun Chiu ◽

Shao-Kang Lin

Keyword(s):

Mobile Robots ◽

Formation Control ◽

Kinematic Model ◽

Control Law ◽

Biologically Inspired ◽

Modified Genetic Algorithm ◽

Robot Systems ◽

Learning And Adaptation ◽

Self Learning ◽

Adaptation Method

This paper presents a biologically-inspired learning and adaptation method for self-evolving control of networked mobile robots. A Kalman filter (KF) algorithm is employed to develop a self-learning RBFNN (Radial Basis Function Neural Network), called the KF-RBFNN. The structure of the KF-RBFNN is optimally initialized by means of a modified genetic algorithm (GA) in which a Lévy flight strategy is applied. By using the derived mathematical kinematic model of the mobile robots, the proposed GA-KF-RBFNN is utilized to design a self-evolving motion control law. The control parameters of the mobile robots are self-learned and adapted via the proposed GA-KF-RBFNN. This approach is extended to address the formation control problem of networked mobile robots by using a broadcast leader-follower control strategy. The proposed pragmatic approach circumvents the communication delay problem found in traditional networked mobile robot systems where consensus graph theory and directed topology are applied. The simulation results and numerical analysis are provided to demonstrate the merits and effectiveness of the developed GA-KF-RBFNN to achieve self-evolving formation control of networked mobile robots.

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Decentralized control for spacecraft formation in elliptic orbits

Aircraft Engineering and Aerospace Technology ◽

10.1108/aeat-12-2015-0250 ◽

2018 ◽

Vol 90 (1) ◽

pp. 166-174

Author(s):

Baolin Wu ◽

Xibin Cao

Keyword(s):

Formation Control ◽

Cost Control ◽

Guaranteed Cost Control ◽

Control Law ◽

Content Type ◽

Spacecraft Formation ◽

Elliptic Orbits ◽

Control Scheme ◽

Guaranteed Cost ◽

Relative Measurements

Purpose This paper aims to address the problem of formation control for spacecraft formation in elliptic orbits by using local relative measurements. Design/methodology/approach A decentralized formation control law is proposed to solve the aforementioned problem. The control law for each spacecraft uses only its relative state with respect to the neighboring spacecraft it can sense. These relative states can be acquired by local relative measurements. The formation control problem is converted to n stabilization problems of a single spacecraft by using algebraic graph theories. The resulting relative motion model is described by a linear time-varying system with uncertain parameters. An optimal guaranteed cost control scheme is subsequently used to obtain the desired control performance. Findings Numerical simulations show the effectiveness of the proposed formation control law. Practical implications The proposed control law can be considered as an alternative to global positioning system-based relative navigation and control system for formation flying missions. Originality/value The proposed decentralized formation control architecture needs only local relative measurements. Fuel consumption is considered by using an optimal guaranteed cost control scheme.

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

International Journal of Intelligent Computing and Cybernetics ◽

10.1108/ijicc-02-2017-0015 ◽

2017 ◽

Vol 10 (4) ◽

pp. 478-490 ◽

Cited By ~ 5

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.

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Distributed adaptive time-varying formation control for Lipschitz nonlinear multi-agent systems

Transactions of the Institute of Measurement and Control ◽

10.1177/01423312211032036 ◽

2021 ◽

pp. 014233122110320

Author(s):

Chenhang Yan ◽

Wei Zhang ◽

Hui Guo ◽

Fanglai Zhu ◽

Yuchen Qian

Keyword(s):

Communication Networks ◽

Formation Control ◽

Tracking Error ◽

Laplacian Matrix ◽

Time Varying ◽

Multi Agent Systems ◽

Agent Systems ◽

Formation Tracking ◽

Leader Following ◽

Multi Agent

In this paper, two kinds of distributed time-varying formation tracking problems for a class of Lipschitz nonlinear multi-agent systems are investigated, that is, the cases with leadless and leader-following formation. By devising a new type of edge-based adaptive algorithm, the controller of each agent can avoid the use of eigenvalues of Laplacian matrix in communication networks. The proposed algorithm only utilizes local information among neighbouring agents to form time-varying formation for nonlinear multi-agent systems with mismatched nonlinearities, and the formation tracking error is uniformly ultimately bounded. To accomplish the required time-varying formation characteristic, a predesigned formation compensation function is given. Finally, numerical simulation examples are presented to indicate the stability of the proposed algorithm, and a comparison is also given to show the superiority of the given algorithm.

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Fixed-time Leader-Following Formation Control of AUVs Without Velocity Measurements

10.21203/rs.3.rs-277885/v1 ◽

2021 ◽

Author(s):

Zhenyu Gao ◽

Yi Zhang ◽

Ge Guo

Keyword(s):

Velocity Measurement ◽

Formation Control ◽

Control Method ◽

Autonomous Underwater Vehicles ◽

Fixed Time ◽

Time Control ◽

Formation Tracking ◽

Full State Feedback ◽

Leader Following ◽

And Performance

Abstract This paper is concerned with formation control of autonomous underwater vehicles (AUVs), focusing on improving system convergence speed and overcoming velocity measurement limitation. By employing the fixed-time control theory and command filtering technique, a full state feedback formation algorithm is proposed, which makes the follower AUV track the leader in a given time with all signals in the system globally practically stabilized in fixed time. To avoid degraded control performance due to inaccurate velocity measurement, a fixed-time convergent observer is designed to estimate the velocity of AUVs. We then give an observer-based fixed-time control method, with which acceptable formation tracking performance can be achieved in fixed time without velocity measurement. The effectiveness and performance of the proposed method is demonstrated by numerical simulations.

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Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications

Sensors ◽

10.3390/s19245498 ◽

2019 ◽

Vol 19 (24) ◽

pp. 5498 ◽

Cited By ~ 2

Author(s):

J. Fermi Guerrero-Castellanos ◽

Argel Vega-Alonzo ◽

Sylvain Durand ◽

Nicolas Marchand ◽

Victor R. Gonzalez-Diaz ◽

...

Keyword(s):

Control Strategy ◽

Formation Control ◽

Control Law ◽

Loop Control ◽

Control Approach ◽

Communication Topology ◽

Leader Following ◽

Error Space ◽

Virtual Leader ◽

Event Triggered

This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing (VTOL-UAVs). The control strategy is based on an inner–outer loop control approach. The inner control law stabilizes the attitude and position of one agent, whereas the outer control follows a virtual leader to achieve position consensus cooperatively through an event-triggered policy. The communication topology uses undirected and connected graphs. With such an event-triggered control, the closed-loop trajectories converge to a compact sphere, centered in the origin of the error space. Furthermore, the minimal inter-sampling time is proven to be below bounded avoiding the Zeno behavior. The formation problem addresses the group of agents to fly in a given shape configuration. The simulation and experimental results highlight the performance of the proposed control strategy.

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

Symmetry ◽

10.3390/sym13060941 ◽

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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