scholarly journals Combining Distributed Consensus with Robust H∞-Control for Satellite Formation Flying

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 319
Author(s):  
Julian Scharnagl ◽  
Florian Kempf ◽  
Klaus Schilling
Keyword(s):  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Special Focus ◽  
Control Methods ◽  
Consensus Approach ◽  
Distributed Consensus ◽  
Space Applications ◽  
Multi Agent ◽  
Common Goals

Control methods that guarantee stability in the presence of uncertainties are mandatory in space applications. Further, distributed control approaches are beneficial in terms of scalability and to achieve common goals, especially in multi-agent setups like formation control. This paper presents a combination of robust H ∞ control and distributed control using the consensus approach by deriving a distributed consensus-based generalized plant description that can be used in H ∞ synthesis. Special focus was set towards space applications, namely SFF. The presented results show the applicability of the developed distributed robust control method to a simple, though realistic space scenario, namely a spaceborne distributed telescope. By using this approach, an arbitrary number of satellites/agents can be controlled towards an arbitrary formation geometry. Because of the combination with robust H ∞ control, the presented method satisfies the high stability and robustness demands as found e.g., in space applications.

scholarly journals Adaptive constraint control for nonlinear multi-agent systems with undirected graphs

2021 ◽  
Vol 6 (11) ◽  
pp. 12051-12064
Author(s):  
Lu Zhi ◽  
◽  
Jinxia Wu
Keyword(s):  
Control Method ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Distributed Consensus ◽  
Controlled System ◽  
Agent Systems ◽  
Full State ◽  
Constraint Control ◽  
Multi Agent ◽  
System States

<abstract><p>This paper investigates the problem of adaptive distributed consensus control for stochastic multi-agent systems (MASs) with full state constraints. By utilizing adaptive backstepping control technique and barrier Lyapunov function (BLF), an adaptive distributed consensus constraint control method is proposed. The developed control method can ensure that all signals of the controlled system are semi-globally uniformly ultimately bounded (SGUUB) in probability, and outputs of the follower agents keep consensus with the output of leader. In addition, system states are not transgressed their constrained sets. Finally, simulation results are provided to illustrate the feasibility of the developed control algorithm and theorem.</p></abstract>

scholarly journals Study on the Formation Control Methods for Multi-Agent Based on Geometric Characteristics

2013 ◽  
Vol 765-767 ◽  
pp. 1928-1931
Author(s):  
Li Li He ◽  
Xiao Chun Lou
Keyword(s):  
Formation Control ◽  
Three Dimensional ◽  
Target Point ◽  
Control Methods ◽  
Agent Based ◽  
Geometric Characteristics ◽  
Specific Direction ◽  
Multi Agent ◽  
Formation Method ◽  
Dimensional Simulation

Multi-agent formation control is the process in which the teams formed by multiple agents move to specific target or specific direction. The formation method of the linear formation and circular formation are given in this paper, based on the geometric characteristics of the formation formed by multi-agent. The process in which 5 agents arrived at the designated target point and formed a linear formation is achieved through simulation; and 4 agents formed a circular formation and cooperated to carry heavy weights. The result of the three-dimensional simulation shows the feasibility of the method to form multi-agent formations in different environments and different tasks.

scholarly journals A Comparative Study of Formation Control at the Earth-Moon L₂ Libration Point

2021 ◽  
Author(s):  
Waqas A. Manzoor
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Libration Point ◽  
Control Strategies ◽  
Control Input ◽  
Control Methods ◽  
Space Applications ◽  
Affine Systems ◽  
The Earth ◽  
And Control

This thesis examines the performance of control methods that fall under the optimal, predictive and adaptive classifications, subjected to sensor/actuator faults, and presents approaches to apply them to non-affine systems utilizing single thruster and solar sail actuator configurations. The system of interest consists of a leader-follower satellite formation near the L2 point of the Earth-Moon system. The control methods studied here include those which are emerging in the space systems literature, and are evaluated in terms of their transient and steady state responses, and control input variation. Numerical simulation of faults affecting both sensor and propulsion actuator systems are conducted, along with an experiment to validate the results in a laboratory environment. The observed behavioral characteristics in the simulations match those demonstrated in the experiment. Alternative representations of dynamics were explored for controller design of non-affine systems. The research presented herein provides support for the usage of the proposed control strategies in future space applications.

scholarly journals Fixed-Time Formation Control for Second-Order Disturbed Multi-Agent Systems under Directed Graph

Symmetry ◽  
2021 ◽  
Vol 13 (12) ◽  
pp. 2295
Author(s):  
Huifen Hong ◽  
He Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Variable Structure ◽  
Fixed Time ◽  
Second Order ◽  
Multi Agent Systems ◽  
Structure Control ◽  
Agent Systems ◽  
Bounded Disturbances ◽  
Multi Agent

This paper investigates the fixed-time formation (FixF) control problem for second-order multi-agent systems (MASs), where each agent is subject to disturbance and the communication network is general directed. First, a FixF protocol is presented based on the backstepping technique, where the distributed cooperative variable structure control method is utilized to handle the bounded disturbances. Then, to remove the dependence of control gains on the global information, a practical adaptive FixF control is presented, where the MASs can achieve formation with a bounded error within fixed time. Finally, a numerical example is presented to validate the theoretical result.

scholarly journals A Comparative Study of Formation Control at the Earth-Moon L₂ Libration Point

2021 ◽  
Author(s):  
Waqas A. Manzoor
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Libration Point ◽  
Control Strategies ◽  
Control Input ◽  
Control Methods ◽  
Space Applications ◽  
Affine Systems ◽  
The Earth ◽  
And Control

This thesis examines the performance of control methods that fall under the optimal, predictive and adaptive classifications, subjected to sensor/actuator faults, and presents approaches to apply them to non-affine systems utilizing single thruster and solar sail actuator configurations. The system of interest consists of a leader-follower satellite formation near the L2 point of the Earth-Moon system. The control methods studied here include those which are emerging in the space systems literature, and are evaluated in terms of their transient and steady state responses, and control input variation. Numerical simulation of faults affecting both sensor and propulsion actuator systems are conducted, along with an experiment to validate the results in a laboratory environment. The observed behavioral characteristics in the simulations match those demonstrated in the experiment. Alternative representations of dynamics were explored for controller design of non-affine systems. The research presented herein provides support for the usage of the proposed control strategies in future space applications.

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

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.

scholarly journals Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaohua Zhang ◽  
Junli Gao ◽  
Wenfeng Zhang ◽  
Tao Zeng ◽  
Liping Ye
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Control Method ◽  
Homogeneous System ◽  
Lyapunov Theory ◽  
Uncertain Parameters ◽  
External Disturbances ◽  
Agent Theory ◽  
Time Control ◽  
Multi Agent

This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.

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