Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.

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Finite-Time Formation Control of Second-Order Linear Multi-Agent Systems with Relative State Constraints: A Barrier Function Sliding Mode Control Approach

IEEE Transactions on Circuits & Systems II Express Briefs ◽

10.1109/tcsii.2021.3098031 ◽

2021 ◽

pp. 1-1

Author(s):

Jian Yang ◽

Gang Cao ◽

Weixing Chen ◽

Weidong Zhang

Keyword(s):

Sliding Mode Control ◽

Finite Time ◽

Barrier Function ◽

Formation Control ◽

State Constraints ◽

Sliding Mode ◽

Multi Agent Systems ◽

Control Approach ◽

Agent Systems ◽

Multi Agent

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Sliding Mode Cooperative Control for Multirobot Systems: A Finite-Time Approach

Mathematical Problems in Engineering ◽

10.1155/2013/450201 ◽

2013 ◽

Vol 2013 ◽

pp. 1-16 ◽

Cited By ~ 5

Author(s):

Masood Ghasemi ◽

Sergey G. Nersesov

Keyword(s):

Steady State ◽

Multiagent Systems ◽

Finite Time ◽

Cooperative Control ◽

Sliding Mode ◽

Laplacian Matrix ◽

Graph Laplacian ◽

Time Stability ◽

Control Approach ◽

Finite Time Stability

Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. We consider a group of agents described by Euler-Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. We further extend these results to multiagent systems involving underactuated dynamical agents such as mobile wheeled robots. For this case, we show that while the position variables can be coordinated in finite time, the orientation variables converge to the steady states asymptotically. Finally, we validate our results experimentally using a wheeled mobile robot platform.

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