NDLI: Design and Realization of Distributed Adaptive Formation Control Law for Multi-Agent Systems With Moving Leader

Content Provider	IEEE Xplore Digital Library
Author	Sung-Mo Kang Hyo-Sung Ahn
Copyright Year	1982
Abstract	In this paper, distributed formation control laws for the multi-agent systems are proposed when the leader is moving constantly with unknown velocity. The proposed control laws are based on the distance-based formation control; therefore, each distance between agents is controlled measuring the relative position. Because the control laws use only local information such as relative position with respect to their own local reference frame, the control laws are completely decentralized. The proposed control laws are designed to make a group of agents keep the desired formation and move with a constant reference velocity in two-dimensional space. The considered system consists of three types of agents: 1) leader; 2) first follower; and 3) follower. The leader knows the reference velocity value, whereas the other agents do not know the reference velocity. For this reason, the first follower and follower estimate the reference velocity by using the adaptive method. Using graph theory and nonlinear control theory, the control laws are verified mathematically. Additionally, the three-agent case is extended to $N$-agent case by an inductive way. The stability and convergence of the system are theoretically analyzed, and the validity of the proposed control laws is clarified by performing simulations and real experiments.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	1268
Ending Page	1279
Page Count	12
File Size	1262558
File Format	PDF
ISSN	02780046
Volume Number	63
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2016-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Position measurement Multi-agent systems Convergence Aerospace electronics Animals Shape Stability analysis Distributed control Formation control Adaptive method nonlinear control distributed control formation control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian

Distributed neuro-adaptive control protocols for non-strict feedback non-linear MASs with input saturation

Distributed adaptive control for distance-based formation and flocking control of multi-agent systems

Observer-based formation tracking control for leader–follower multi-agent systems

Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode

Adaptive iterative learning control for consensus of multi-agent systems

Distributed iterative learning coordination control for leader–follower uncertain non-linear multi-agent systems with input saturation

Leader-following consensus for uncertain second-order nonlinear multi-agent systems

Distributed model reference adaptive control for cooperative tracking of uncertain dynamical multi-agent systems

Design and Realization of Distributed Adaptive Formation Control Law for Multi-Agent Systems With Moving Leader

Similar Documents

Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian

Distributed neuro-adaptive control protocols for non-strict feedback non-linear MASs with input saturation

Distributed adaptive control for distance-based formation and flocking control of multi-agent systems

Observer-based formation tracking control for leader–follower multi-agent systems

Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode

Adaptive iterative learning control for consensus of multi-agent systems

Distributed iterative learning coordination control for leader–follower uncertain non-linear multi-agent systems with input saturation

Leader-following consensus for uncertain second-order nonlinear multi-agent systems

Distributed model reference adaptive control for cooperative tracking of uncertain dynamical multi-agent systems

Design and Realization of Distributed Adaptive Formation Control Law for Multi-Agent Systems With Moving Leader