scholarly journals Robust Adaptive Cooperative Control for Formation-Tracking Problem in a Network of Non-Affine Nonlinear Agents

2017 ◽  
Author(s):  
Muhammad Nasiruddin bin Mahyuddin ◽  
Ali Safaei
Keyword(s):  
Cooperative Control ◽  
Tracking Problem ◽  
Formation Tracking ◽  
Robust Adaptive

scholarly journals Robust Adaptive Neural Cooperative Control for the USV-UAV Based on the LVS-LVA Guidance Principle

2022 ◽  
Vol 10 (1) ◽  
pp. 51
Author(s):  
Jiqiang Li ◽  
Guoqing Zhang ◽  
Bo Li
Keyword(s):  
Cooperative Control ◽  
Position Control ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Basic Function ◽  
Compact Set ◽  
Control Input ◽  
Dynamic Surface ◽  
Robust Adaptive ◽  
Event Triggered

Around the cooperative path-following control for the underactuated surface vessel (USV) and the unmanned aerial vehicle (UAV), a logic virtual ship-logic virtual aircraft (LVS-LVA) guidance principle is developed to generate the reference heading signals for the USV-UAV system by using the “virtual ship” and the “virtual aircraft”, which is critical to establish an effective correlation between the USV and the UAV. Taking the steerable variables (the main engine speed and the rudder angle of the USV, and the rotor angular velocities of the UAV) as the control input, a robust adaptive neural cooperative control algorithm was designed by employing the dynamic surface control (DSC), radial basic function neural networks (RBF-NNs) and the event-triggered technique. In the proposed algorithm, the reference roll angle and pitch angle for the UAV can be calculated from the position control loop by virtue of the nonlinear decouple technique. In addition, the system uncertainties were approximated through the RBF-NNs and the transmission burden from the controller to the actuators was reduced for merits of the event-triggered technique. Thus, the derived control law is superior in terms of the concise form, low transmission burden and robustness. Furthermore, the tracking errors of the USV-UAV cooperative control system can converge to a small compact set through adjusting the designed control parameters appropriately, and it can be also guaranteed that all the signals are the semi-global uniformly ultimately bounded (SGUUB). Finally, the effectiveness of the proposed algorithm has been verified via numerical simulations in the presence of the time-varying disturbances.

scholarly journals Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks

Mathematics ◽  
2021 ◽  
Vol 9 (18) ◽  
pp. 2190
Author(s):  
Bong-Seok Park ◽  
Sung-Jin Yoo
Keyword(s):  
Mobile Robots ◽  
Adaptive Compensation ◽  
Tracking Errors ◽  
External Disturbances ◽  
Nonholonomic Mobile Robots ◽  
Formation Tracking ◽  
Control Scheme ◽  
Secure Control ◽  
Robust Adaptive ◽  
Lyapunov Sense

This paper addresses an adaptive secure control problem for the leader-follower formation of nonholonomic mobile robots in the presence of uncertainty and deception attacks. It is assumed that the false data of the leader robot’s information attacked by the adversary is transmitted to the follower robot through the network, and the dynamic model of each robot has uncertainty, such as unknown nonlinearity and external disturbances. A robust, adaptive secure control strategy compensating for false data and uncertainty is developed to accomplish the desired formation of nonholonomic mobile robots. An adaptive compensation mechanism is derived to remove the effects of time-varying attack signals and system uncertainties in the proposed control scheme. Although unknown deception attacks are injected to the leader’s velocities and the model nonlinearities of robots are unknown, the boundedness and convergence of formation tracking errors of the proposed adaptive control system are analyzed in the Lyapunov sense. The validity of the proposed scheme is verified via simulation results.

Fast Convergence of Multi-quadrotor Cooperation Using Weighted-Neighbor-based Control

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Zhicheng Hou ◽  
Gong Zhang
Keyword(s):  
Real Time ◽  
Formation Control ◽  
Control Method ◽  
A Priori ◽  
Fast Convergence ◽  
Tracking Problem ◽  
Not Given ◽  
Control Protocol ◽  
Formation Tracking ◽  
Robot Systems

SUMMARY In this paper, a weighted-neighbor-based cooperation control of multi-quadrotor systems is investigated. A formation tracking problem is treated, where the reference formation trajectory (RFT) is not given a priori. The RFT is only available to some of the quadrotors (i.e. the leaders). In order to attain the fast convergence of the agents, we propose an algorithm to calculate the neighbors’ weights in decentralized way. Then, the weights are used to compose the formation controller. Compared to the widely used average-neighbor-based control method, the proposed control protocol can increase the convergence speed of the cooperation error. Since the formation control is improved in topological scale, the utilization of the proposed algorithms can be extended on any multi-robot systems. We show the improvement of the proposed control protocol by theoretical proof, simulation, and real-time experiments.

Information-Rich Formation Tracking: A Unified Scheme of Cooperative Control and Localization

2020 ◽  
Vol 17 (8) ◽  
pp. 390-406
Author(s):  
Arijit Sen ◽  
Mangal Kothari ◽  
Soumya Ranjan Sahoo
Keyword(s):  
Cooperative Control ◽  
Formation Tracking

scholarly journals Consensus Formation Control and Obstacle Avoidance of Multiagent Systems with Directed Topology

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Lichao Wang ◽  
Xing Li ◽  
Bingyou Liu ◽  
Zhengzheng Zhang
Keyword(s):  
Obstacle Avoidance ◽  
Multiagent Systems ◽  
Formation Control ◽  
Tracking Problem ◽  
Consensus Formation ◽  
Control Laws ◽  
Directed Topology ◽  
Control Protocol ◽  
Formation Tracking ◽  
Avoidance Control

This study addresses the problems of formation control and obstacle avoidance for a class of second-order multiagent systems with directed topology. Formation and velocity control laws are designed to solve the formation tracking problem. A new obstacle avoidance control law is also proposed to avoid obstacles. Then, the consensus control protocol consists of the formation, velocity, and obstacle avoidance control laws. The convergence of the proposed control protocol is analyzed by a redesigned Lyapunov function. Finally, the effectiveness of theoretical results is illustrated by simulation examples. The simulation results show that the formation tracking problem of the given multiagent systems can be realized and obstacles can be avoided under the proposed control protocol.

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