Distributed Finite-Time Formation Control of Multi-Quadrotor Based on Leader-following Structure

2019 ◽  
Author(s):  
Liqian Dou ◽  
Xiaotong Su ◽  
Dandan Wang ◽  
Yueping Wang
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Leader Following

scholarly journals Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Caihong Zhang ◽  
Tairen Sun ◽  
Yongping Pan
Keyword(s):  
Neural Network ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Finite Time ◽  
Formation Control ◽  
Nonholonomic Mobile Robots ◽  
Control Laws ◽  
Leader Following ◽  
Simulation Results ◽  
Neural Network Observer

This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.

Finite-Time Consensus for Leader-Following Second-Order Multi-Agent Networks

2012 ◽  
Vol 59 (11) ◽  
pp. 2646-2654 ◽  
Author(s):  
Zhi-Hong Guan ◽  
Feng-Lan Sun ◽  
Yan-Wu Wang ◽  
Tao Li
Keyword(s):  
Finite Time ◽  
Second Order ◽  
Leader Following ◽  
Multi Agent ◽  
Agent Networks
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