Distance-Based Formation Control With Bounded Disturbances

被引：22
|
作者：
Van Vu, Dung [1 ]
Trinh, Minh Hoang [1 ]
Nguyen, Phuoc Doan [1 ]
Ahn, Hyo-Sung [2 ]
机构：
[1] Hanoi Univ Sci & Technol, Sch Elect Engn, Dept Automat Control, Hanoi 11615, Vietnam
[2] Gwangju Inst Sci & Technol, Sch Mech Engn, Gwangju 500712, South Korea
来源：
IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 02期
基金：
新加坡国家研究基金会;
关键词：
Rigidity; Stability analysis; Shape; Lyapunov methods; Simulation; Robustness; Nonlinear equations; Formation control; graph rigidity; robustness; RIGID FORMATIONS; STABILIZATION; STABILITY;
D O I：
10.1109/LCSYS.2020.3003418
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this letter, we study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances. We propose distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances. The stability of the systems under the proposed control laws is analyzed based on Lyapunov stability theory of nonsmooth systems and Barbalat's lemma. Further, sufficient conditions are given to ensure the system to approach the set of desired formation. Finally, simulation results are provided to support the analysis.
引用
收藏
页码：451 / 456
页数：6
相关论文
共 50 条
  • [31] Distance-based Formation Control Using Euclidean Distance Dynamics Matrix: Three-agent Case
    Oh, Kwang-Kyo
    Ahn, Hyo-Sung
    2011 AMERICAN CONTROL CONFERENCE, 2011, : 4810 - 4815
  • [32] Distance-based flow control in wormhole networks
    Smai, AH
    Thorelli, LE
    PARALLEL COMPUTER ROUTING AND COMMUNICATION, 1998, 1417 : 189 - 202
  • [33] Cooperative Source Seeking with Distance-Based Formation Control and Non-Holonomic Agents
    Barogh, Siavash Ahmadi
    Werner, Herbert
    IFAC PAPERSONLINE, 2017, 50 (01): : 7917 - 7922
  • [34] A Study on Distance-Based Control of Mobile Agents for Formation Avoiding Entire and Partial Reflection
    Ito, Hiroshi
    Miyagi, Yuichi
    2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019), 2019, : 753 - 758
  • [35] Cooperative Source Seeking with Distance-Based Formation Control and Single-Integrator Agents
    Barogh, Siavash Ahmadi
    Werner, Herbert
    IFAC PAPERSONLINE, 2017, 50 (01): : 7911 - 7916
  • [36] Distributed Robust Adaptive Gradient Controller in Distance-Based Formation Control With Exogenous Disturbance
    Bae, Yoo-Bin
    Lim, Young-Hun
    Ahn, Hyo-Sung
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2021, 66 (06) : 2868 - 2874
  • [37] Formation of multi-agent systems with desired orientation: a distance-based control approach
    Zhao, Yinxiang
    Hao, Yuqing
    Wang, Qishao
    Wang, Qingyun
    Chen, Guanrong
    NONLINEAR DYNAMICS, 2021, 106 (04) : 3351 - 3361
  • [38] Leader-follower type distance-based formation control of a group of autonomous agents
    Kwang-Kyo Oh
    Hyo-Sung Ahn
    International Journal of Control, Automation and Systems, 2017, 15 : 1738 - 1745
  • [39] Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions
    Ghommam, Jawhar
    Luque-Vega, Luis F.
    Saad, Maarouf
    INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING, 2020, 2020 (2020)
  • [40] Formation of multi-agent systems with desired orientation: a distance-based control approach
    Yinxiang Zhao
    Yuqing Hao
    Qishao Wang
    Qingyun Wang
    Guanrong Chen
    Nonlinear Dynamics, 2021, 106 : 3351 - 3361
12345