Showing 1-25 of 16,805 resultsfor "Index Terms":Formation control
"Index Terms":Formation control
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Distributed Robust Time-Varying Formation Control of Multi-Agent Systems Under Disturbances
2024 SICE Festival with Annual Conference (SICE FES)
Year: 2024 | Conference Paper |
This work considers the problem of time-varying formation tracking control of second-order multi-agent systems under disturbances. A distributed robust time-varying formation control law is proposed including distributed finite-time estimators of the leader's states and sliding mode time-varying formation controllers. Firstly, each agent can quickly estimate the leader's states through the communi...Show More
Research on Quadrotor UAV Formation Control Based on Integral Terminal Sliding Mode Active Disturbance Rejection Control
2024 International Conference on Advances in Electrical Engineering and Computer Applications (AEECA)
Year: 2024 | Conference Paper |
This study investigates leader-follower formation control to address the trajectory tracking problem of multiple UAVs and proposes a collaborative control scheme for multiple quadrotor UAVs. The design of the collaborative control scheme mainly includes an upper-layer formation controller and a lower-layer trajectory tracking controller. Firstly, the "leader-follower" formation model and the quadr...Show More
UAV Formation Centralized Control Method Under Cooperative Flight Missions
2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Multi-UAV cooperative mission is an important development trend of unmanned system application, and multi-UAV autonomous flight formation control ability is the premise of performing diversified missions. Firstly, the importance of UAV formation in today's military and civil fields and the difficulties to be solved in formation control are analyzed. The formation cooperative control is divided int...Show More
Safe Formation Control For Micro-UAV Using Control Barrier Functions
2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
The formation control for unmanned aerial vehicles (UAVs) has become a key research focus in the past two decades. This paper studies the issues of formation tracking and safety control for micro-UAV swarms. A distributed finite-time formation control method based on an adaptive super-twisting algorithm is designed, ensuring that micro- UAVs can quickly converge to the desired formation within a f...Show More
Robust Consensus-Based Formation Control of Multi-Robot Systems with Guaranteed Safety
2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA)
Year: 2024 | Conference Paper |
This paper studies the safe leader-following formation control for multiple wheeled-mobile-robots (WMRs) sub-jected to bounded external disturbances under directed communication topology. A consensus-based sliding-mode formation control law is combined with safety barrier certificates for obstacle avoidance and collision-free based on control barrier function (CBF) manipulated by quadratic program...Show More
State Space Predictive Control for Quadrotors Cooperative Flight
2023 5th International Conference on Intelligent Control, Measurement and Signal Processing (ICMSP)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
This paper investigates the cooperative control of quadrotor formation. A state space predictive control strategy is proposed for the leader-following quadrotor cooperative flight. Specifically, based on the state predictive control method, a tracking controller is firstly designed for quadrotor leader to achieve the stable trajectory tracking. Secondly, a distributed state space predictive format...Show More
Finite-Time Formation Control of Multiple Nonholonomic Mobile Robots With Input Saturation
2023 6th International Conference on Mechatronics, Robotics and Automation (ICMRA)(
Year: 2023 | Conference Paper |
A finite-time formation control scheme is proposed for a team of nonholonomic mobile robots with input saturation under a directed communication graph. The leader’s information is estimated by a distributed finite-time observer. Based on the distributed finite-time observer, the adaptive control approach, the input-output feedback linearization technique, and an input saturation model, a finite-ti...Show More
3D multi-UAV coupled formation control based on backstepping control method
2024 IEEE 6th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC)
Year: 2024 | Conference Paper |
Cited by: Papers (1)
A three-dimensional UAV cooperative formation control method, based on distributed control, is proposed to address the issue of poor follower acquisition of pilot status in multi-UAV formation flight. This system introduces the backstepping control method with integral terms to construct a trajectory tracking controller for the leader in the multi-UAV model. A cooperative formation control method,...Show More
A Multilayer Graph for Multiagent Formation and Trajectory Tracking Control Based on MPC Algorithm
IEEE Transactions on Cybernetics
Cited by: Papers (33)
This article studies the formation and trajectory tracking control of multiagent systems. We present a novel multilayer graph for the multiagent system to enable extensibility of the interaction network. Based on the multilayer graph, a formation control law by using the potential function approach is developed for autonomous formation, formation maintenance, collision, and obstacle avoidance. Whe...Show More
Adaptive Fuzzy Inverse Optimal Formation Control for Unmanned Surface Vehicle Systems
2024 16th International Conference on Advanced Computational Intelligence (ICACI)
Year: 2024 | Conference Paper |
In this paper, an adaptive fuzzy inverse optimal formation control method is introduced for unmanned surface vehicles (USVs). Fuzzy logic systems (FLSs) are utilized to approximate the unknown nonlinear dynamics, and a bounded estimation algorithm is employed to develop the controller and parameter adaptive law. Drawing from the leader-follower formation approach and inverse optimal stability theo...Show More
For more practical applications, a simple decentralized $H_{\infty }$ proportional-integral-derivative (PID) team formation tracking strategy is proposed in this study for large-scale stochastic quadrotor unmanned aerial vehicles (UAVs) under external disturbance, intrinsic stochastic fluctuation and trailing vortex coupling. By adopting the virtual leader concept, the reference trajectory of ea...Show More
Vehicle Formation Control Based on Fuzzy Model Predictive Control
2024 7th International Conference on Computer Information Science and Application Technology (CISAT)
Year: 2024 | Conference Paper |
Cited by: Papers (1)
A vehicle formation control model based on the fusion of the Predecessor Leader Following (PLF) communication topology and Fuzzy Model Predictive Control (MPC) is proposed to address the performance issues of vehicle formation following in existing traffic scenarios. Taking into account the consistency of vehicle spacing, speed, and acceleration, as well as the constraints of driving safety, econo...Show More
Event-Triggered Formation Control for Multi-Wheeled Mobile Robot Systems under A Chained Directed Network Topology
2024 43rd Chinese Control Conference (CCC)
Year: 2024 | Conference Paper |
This paper focuses on the formation tracking control of multiple nonholonomic wheeled mobile robot systems. In order to optimize communication resources, a distributed communication manner combined with a static event-triggered mechanism has been introduced under a special chained directed network topology based on the mobile robot kinematic model. And each mobile robot only needs to communicate w...Show More
Data-driven Fast Terminal Sliding Mode Formation Control of Unknown Multi-UAVs
2022 IEEE International Conference on Unmanned Systems (ICUS)
Year: 2022 | Conference Paper |
This paper studies the leader-follower formation control problem of unknown multiple quadrotors unmanned aerial vehicles (multi-QUAVs) with external disturbances and unmodeled dynamics in three-dimensional space, whereby a data-driven fast terminal sliding mode formation control (DFTSMFC) scheme is studied. Firstly, for multi-QUAV systems with unavailable dynamics, the equivalent full-format dynam...Show More
Multi-UAV Formation Control Based on Distributed Model Predictive Control*
2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
This paper presents a distributed model predictive control (DMPC) algorithm for multiple unmanned aerial vehicle (Multi-UAV) formation tracking. This algorithm takes into account the rapidly formation and maintenance of multi-UAV formation, and each UAV only needs to accept the information of neighbor nodes (UAVs) for real-time online rolling optimization. The DMPC scheme enables all followers to ...Show More
Structure Keeping Control for Heterogeneous Formations Based on Consistency Theory and Graph Theory
2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE)
Year: 2023 | Conference Paper |
Cited by: Papers (4)
This paper studies the formation control problem of heterogeneous formations of UGV/UAVs in the collaborative reconnaissance scenario. It is required that UAVs in the formation keep tracking the UGV and the structure of the heterogeneous formation keep stable. First, the kinematics and dynamics of the UAV and UGV are modeled, and graph theory is introduced to establish a cooperative control model ...Show More
Distributed adaptive control of mobile robots with unknown parameters
Xiaojun Cheng;Jiangshuai Huang;Tingting Gao;Song Wang;Meng Zhang
2023 35th Chinese Control and Decision Conference (CCDC)
Year: 2023 | Conference Paper |
In this paper, formation control problem of second-order mobile robots with uncertain model and reference trajectory parameters is investigated. It is assumed that the multiagent systems have the same structure of each subsystem, but the the model parameters are different and unknown, and only some of the systems can obtain the desired trajectory information. For this system, the communication top...Show More
Solving Agent Initialization Problems in a Multi-Agent System
2023 Seminar on Information Computing and Processing (ICP)
Year: 2023 | Conference Paper |
The development of multi-agent systems has had an enormous impact on various areas of life. The essence of multi-agent systems is to solve problems that are difficult or impossible to solve with a single agent or with classical mathematical methods. However, there are many problems associated with the use of multi-agent systems, such as formation management. This paper focuses on formation control...Show More
Affine Formation Control of Multiple Quadcopters
IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society
Year: 2022 | Conference Paper |
Cited by: Papers (3)
This paper considers the distributed time-varying formation tracking control problem of multi-quadcopter systems using affine formation control strategies with multiple virtual leaders. A novel two-layer (formation layer and local control layer) affine formation control structure is established to account for the underactuated nature of the quadcopter dynamics. In the formation layer, a quadcopter...Show More
Relative-Information-Based Adaptive Formation Control Method for Heterogeneous Nonlinear Uncertain Multi-Underwater-Unmanned System*
2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE)
Year: 2024 | Conference Paper |
This study presents a formation control method based on relative information for heterogeneous nonlinear uncertain underwater unmanned system. Furthermore, the robustness of the proposed method is strong without prior knowledge. Moreover, the convergence boundary of the tracking error system can be predefined. In addition, the results of this research can be a foundational method for other formati...Show More
Multi-UAV Formation Control Based on Parameter Optimization ADRC
Yuxin Hu;Changlin Liu;Ping Wang;Mengping Zhang;Han Mu;Quan Yuan
2022 IEEE 8th International Conference on Cloud Computing and Intelligent Systems (CCIS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
This paper considers the problem of multiple unmanned aerial vehicles (UAVs) formation in a wind disturbance environment. An anti-disturbance formation control method is proposed to prevent environmental disturbance while ensuring the formation. By introducing the active disturbance rejection control (ADRC) of each UAV in the consensus-based algorithm structure, the stability of the formation syst...Show More
Backstepping Control Design for Cooperative Flight of MAV/UAVs
2023 4th International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM)
Year: 2023 | Conference Paper |
This paper investigates the cooperative flight control of manned/unmanned aerial vehicles (MAV/UAVs). The backstepping control strategy is proposed for the MAV/UAVs cooperative flight. Firstly, a tracking controller is designed for MAV to achieve the stable trajectory tracking. Then for UAVs, the distributed leader-following formation control scheme is established to keep the desired relative posi...Show More
Distributed Resilient Formation Control of Multiple Nonholonomic Mobile Robots with Finite-Time Convergence
2023 9th International Conference on Control Science and Systems Engineering (ICCSSE)
Year: 2023 | Conference Paper |
Cited by: Papers (2)
A distributed resilient finite-time control approach is proposed for formation control of multiple nonholonomic mobile robots with unknown actuator attacks and under directed communication topology. First, the leader's information is estimated in a finite time by introducing a distributed finite-time observer. Then, a resilient finite-time formation tracking control protocol is designed with the h...Show More
Distributed Robust UAVs Formation Control Based on Semidefinite Programming
Peiyu Zhang;Jianshan Zhou;Daxin Tian;Xuting Duan;Dezong Zhao;Kan Guo
Tsinghua Science and Technology
Cited by: Papers (1)
The formation control of unmanned aerial vehicle (UAV) swarms is of significant importance in various fields such as transportation, emergency management, and environmental monitoring. However, the complex dynamics, nonlinearity, uncertainty, and interaction among agents make it a challenging problem. In this paper, we propose a distributed robust control strategy that uses only local information ...Show More
In this study, an H∞ attack-tolerant decentralized observer-based formation tracking control strategy is designed for the network control system (NCS) of large-scale LEO satellite team under external disturbance and attack signal. First, smoothing signal models of attack signals are embedded in each satellite to avoid their corruption on state estimation of Luenberger observer and to compensate th...Show More
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