A Distributed Control Law for Acyclic Formations

The paper provides a novel cooperative motion scheme for networked Unmanned Aerial Vehicles (UAVs) to fully sweep-cover a priori unknown elongated areas with curved borders, which are termed “valley areas.” The UAVs’ motion is confined between the borders. Different from former research on straight-corridor-sweep-coverage, in each valley area, the width of different portions varies dramatically: the UAVs need to line up across the valley area to achieve full coverage of the widest portions while they can only pass through the narrowest parts one by one in a queue. The UAVs are provided with barrier detection and inter-UAV communication. According to the scheme, a distributed control law has been offered for discrete-time multi-UAV systems, guaranteeing crash avoidance and full coverage while considering the constrained mobility of the UAVs. Regular and extreme simulations are carried out to verify the efficacy and stability of the proposed algorithm. Solutions to U-shaped valley coverage and the case of insufficient UAVs available are discussed with validation simulations. Comparison simulations are conducted with respect to a line-sweep-coverage algorithm developed by a closely related work, and differences in performance are revealed subsequently. Conclusions are drawn with possible directions of future research.

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Sub-optimal distributed control law with H2 performance for identical dynamically coupled linear systems

IET Control Theory and Applications ◽

10.1049/iet-cta.2011.0582 ◽

2012 ◽

Vol 6 (16) ◽

pp. 2509-2517 ◽

Cited By ~ 7

Author(s):

P. Deshpande ◽

P.P. Menon ◽

C. Edwards ◽

I. Postlethwaite

Keyword(s):

Linear Systems ◽

Distributed Control ◽

Control Law ◽

H2 Performance ◽

Optimal Distributed Control

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Distributed Control Law for Load Balancing with Delay Adjustment and Primary Back-up Approach in Content Delivery Network

International Journal of Computer Applications ◽

10.5120/21384-4388 ◽

2015 ◽

Vol 119 (24) ◽

pp. 17-21

Author(s):

Nitish M.Shinde ◽

S. R. Khiani

Keyword(s):

Load Balancing ◽

Distributed Control ◽

Content Delivery ◽

Control Law ◽

Content Delivery Network ◽

Delivery Network

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Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

Applied Sciences ◽

10.3390/app11199170 ◽

2021 ◽

Vol 11 (19) ◽

pp. 9170

Author(s):

Peng Xu ◽

Jin Tao ◽

Minyi Xu ◽

Guangming Xie

Keyword(s):

Theoretical Analysis ◽

Mobile Robots ◽

Distributed Control ◽

Formation Control ◽

Control Method ◽

Control Law ◽

Control Problems ◽

Moving Target ◽

Whole Process ◽

Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

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Observer-Based Distributed Fault Detection for Heterogeneous Multi-Agent Systems

Applied Sciences ◽

10.3390/app10217466 ◽

2020 ◽

Vol 10 (21) ◽

pp. 7466

Author(s):

Wenhao Jia ◽

Jinzhi Wang

Keyword(s):

Fault Detection ◽

Distributed Control ◽

Control Law ◽

Multi Agent Systems ◽

State Information ◽

Agent Systems ◽

Multi Agent ◽

Distributed Fault Detection ◽

Measurement Output ◽

Cooperative Output Regulation

This paper solves the distributed fault detection (FD) problem for heterogeneous multi-agent systems (MAS). For a heterogeneous MAS, we adopt a distributed control law to realise cooperative output regulation (COR) when no fault occurs in the MAS, and propose a state-feedback-based FD scheme, where the adopted distributed control law and proposed FD scheme all utilise state information. Furthermore, we consider the condition that state information is unmeasurable, the output-feedback-based distributed FD scheme is proposed, and the adopted distributed control law also utilises measurement output. Finally, two numerical examples are utilised to verify that the proposed distributed FD schemes could locate and remove the faulty agent in time.

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