Adaptive Formation Tracking Control of Directed Networked Vehicles in a Time-Varying Flowfield

Abstract

No AccessEngineering NotesAdaptive Formation Tracking Control of Directed Networked Vehicles in a Time-Varying FlowfieldYang-Yang Chen, Kaiwen Chen and Alessandro AstolfiYang-Yang Chen https://orcid.org/0000-0003-0136-0174Southeast University, 210096 Nanjing, People’s Republic of China*Associate Professor, School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education; .Search for more papers by this author, Kaiwen Chen https://orcid.org/0000-0001-6816-6910Imperial College London, London, England SW7 2AZ, United Kingdom†Ph.D. Student, Department of Electrical and Electronic Engineering; .Search for more papers by this author and Alessandro Astolfi https://orcid.org/0000-0002-4331-454XImperial College London, London, England SW7 2AZ, United Kingdom‡Professor, Department of Electrical and Electronic Engineering; also Department of Civil Engineering and Computer Science Engineering, University of Rome Tor Vergata, 00133 Rome, Italy; .Search for more papers by this authorPublished Online:3 Jun 2021https://doi.org/10.2514/1.G005822SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Gurfil P., Idan M. and Kasdin N. J., “Adaptive Neural Control of Deep-Space Formation Flying,” Journal of Guidance, Control, and Dynamics Vol. 26, No. 3, 2003, pp. 491–501. https://doi.org/10.2514/2.5072 LinkGoogle Scholar[2] Bertozzi A. L., Kemp M. and Marthaler D., “Determing Enviromental Boundaries: Asynchronous Communication and Physical Scales,” Cooperative Control, edited by Kumar V., Leonard N. and Morse A. S., Lecture Notes in Control and Information Sciences, 1st ed., Vol. 309, Springer, Germany, 2005, pp. 25–42. https://doi.org/10.1007/978-3-540-31595-7_2 Google Scholar[3] Fiorelli E., Leonard N. E., Vhatta P., Paley D. A., Bachmayer R. and Fratantoni D. M., “Multi-AUV Control and Adaptive Sampling in Monterey Bay,” IEEE Journal of Oceanic Engineering, Vol. 31, No. 4, 2006, pp. 935–948. https://doi.org/10.1109/JOE.2006.880429 CrossrefGoogle Scholar[4] Ren W. and Beard R. W., “Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach,” Journal of Guidance, Control, and Dynamics, Vol. 27, No. 1, 2004, pp. 73–82. https://doi.org/10.2514/1.9287 LinkGoogle Scholar[5] Ghabcheloo R., “Coordinated Path Following of Multiple Autonomous Vehicles,” Ph.D. Dissertation, Inst. Superior Tećnico, Univ. of Lisbon, Lisbon, 2007. Google Scholar[6] Zhang F. and Leonard N. E., “Coordinated Patterns of Unit Speed Particles on a Closed Curve,” Systems & Control Letters, Vol. 56, No. 6, 2007, pp. 397–407. https://doi.org/10.1016/j.sysconle.2006.10.027 CrossrefGoogle Scholar[7] Chen Y.-Y. and Tian Y.-P., “Formation Tracking and Attitude Synchronization Control of Underactuated Ships Along Closed Orbits,” International Journal of Robust and Nonlinear Control, Vol. 25, No. 16, 2015, pp. 3023–3044. https://doi.org/10.1002/rnc.3246 Google Scholar[8] Leonard N. E., Paley D. A., Lekien F., Sepulchre R., Fratantoni D. M. and Davis R. E., “Collective Motion, Sensor Networks, and Ocean Sampling,” Proceedings of the IEEE, Vol. 95, No. 1, 2007, pp. 48–74. https://doi.org/10.1109/JPROC.2006.887295 CrossrefGoogle Scholar[9] Paley D. A. and Peterson C., “Stabilization of Collective Motion in a Time-Invariant Flowfield,” Journal of Guidance, Control, and Dynamics, Vol. 32, No. 3, 2009, pp. 771–779. https://doi.org/10.2514/1.40636 LinkGoogle Scholar[10] Peterson C. and Paley D. A., “Multivehicle Coordination in an Estimated Time-Varying Flowfield,” Journal of Guidance, Control, and Dynamics, Vol. 34, No. 1, 2011, pp. 177–191. https://doi.org/10.2514/1.50036 LinkGoogle Scholar[11] Peterson C. K. and Paley D. A., “Distributed Estimation for Motion Coordination in an Unknown Spatially Varying Flowfield,” Journal of Guidance, Control, and Dynamics, Vol. 36, No. 3, 2013, pp. 894–898. https://doi.org/10.2514/1.59453 LinkGoogle Scholar[12] Peng Z., Wang D., Wang H. and Wang W., “Coordinated Formation Pattern Control of Multiple Marine Surface Vehicles with Model Uncertain and Time-Varying Ocean Currents,” Neural Computing and Applications, Vol. 25, No. 7, 2014, pp. 1771–1783. https://doi.org/10.1007/s00521-014-1668-z Google Scholar[13] Chen Y.-Y., Zhang Y. and Wang Z.-Z., “An Adaptive Backstepping Design for Formation Tracking Motion in an Unknown Eulerian Specification Flowfield,” Journal of the Franklin Institute, Vol. 354, No. 14, 2017, pp. 6217–6233. https://doi.org/10.1016/j.jfranklin.2017.07.020 CrossrefGoogle Scholar[14] Yu H. and Xia X., “Adaptive Consensus of Multi-Agents in Networks with Jointly Connected Topologies,” Automatica, Vol. 48, No. 8, 2012, pp. 1783–1790. https://doi.org/10.1016/j.automatica.2012.05.068 Google Scholar[15] Wang X., Li S. and Lam J., “Distributed Active Anti-Disturbance Output Consensus Algorithms for Higher-Order Multi-Agent Systems with Mismatched Disturbances,” Automatica, Vol. 74, Dec. 2016, pp. 30–37. https://doi.org/10.1016/j.automatica.2016.07.010 CrossrefGoogle Scholar[16] Ghapani S., Rahili S. and Ren W., “Distributed Average Tracking of Physical Second-Order Agents with Heterogeneous Unknown Nonlinear Dynamics with Contraint on Input Signals,” IEEE Transactions on Automatic Control, Vol. 64, No. 3, 2019, pp. 1178–1184. https://doi.org/10.1109/TAC.2018.2840452 Google Scholar[17] Ren W. and Atkins E., “Distributed Multi-Vehicle Coordinated Control via Local Information Exchange,” International Journal of Robust and Nonlinear Control, Vol. 17, Nos. 10–11, 2007, pp. 1002–1033. https://doi.org/10.1002/rnc.1147 CrossrefGoogle Scholar[18] Leonard J. J. and Durrant-Whyte H. F., “Mobile Robot Localization by Tracking Geometric Beacons,” IEEE Transactions on Robotics and Automation Vol. 7, No. 3, 1991, pp. 376–382. https://doi.org/10.1109/70.88147 CrossrefGoogle Scholar[19] Guo J., Yan G. and Lin Z., “Local Control Strategy for Moving-Target-Enclosing Under Dynamically Changing Network Topology,” Systems & Control Letters, Vol. 59, No. 10, 2010, pp. 654–661. https://doi.org/10.1016/j.sysconle.2010.07.010 CrossrefGoogle Scholar[20] Chen Y.-Y., Ai X. and Zhang Y., “Spherical Formation Tracking Control for Second-Order Agents with Unknown General Flowfields and Strongly Connected Topologies,” International Journal of Robust and Nonlinear Control, Vol. 29, No. 11, 2019, pp. 3715–3736. https://doi.org/10.1002/rnc.4576 CrossrefGoogle Scholar[21] Liu L., Wang D., Peng Z., Chen C. L. P., Li T. and Lan W., “Bounded Neural Network Control for Target Tracking of Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Target Dynamics,” IEEE Transactions on Neural Networks and Learning Systems, Vol. 30, No. 4, 2019, pp. 1241–1249. https://doi.org/10.1109/TNNLS.2018.2868978 Google Scholar[22] Su Y. and Huang J., “Cooperative Output Regulation with Application to Multi-Agent Consensus Under Switching Network,” IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), Vol. 42, No. 3, 2012, pp. 864–875. https://doi.org/10.1109/TSMCB.2011.2179981 Google Scholar[23] Liu W. and Huang J., “Adaptive Leader-Following Consensus for a Class of Higher-Order Nonlinear Multi-Agent System with Directed Switching Networks,” Automatica, Vol. 79, May 2017, pp. 84–92. https://doi.org/10.1016/j.automatica.2017.02.010 Google Scholar[24] Lynch K. M., Schwartz I. B., Yang P. and Freeman R. A., “Decentralized Environmental Modeling by Mobile Sensor Networks,” IEEE Transaction on Robotics, Vol. 24, No. 3, 2008, pp. 710–724. https://doi.org/10.1109/TRO.2008.921567 CrossrefGoogle Scholar[25] Chen K. and Astolfi A., “Adaptive Control of Linear Systems with Time-Varying Parameters,” American Control Conference, IEEE Publ., New York, 2018, pp. 80–85. https://doi.org/10.23919/ACC.2018.8431444 Google Scholar[26] Chen K. and Astolfi A., “I&I Adaptive Control for Systems with Varying Parameters,” IEEE Conference on Decision and Control, IEEE Publ., New York, 2018, pp. 2205–2210. https://doi.org/10.1109/CDC.2018.8619564 Google Scholar[27] Chen K. and Astolfi A., “Output-Feedback Adaptive Control for Systems with Time-Varying Parameters,” IFAC-PapersOnLine, Vol. 52, No. 16, 2019, pp. 586–591. https://doi.org/10.1016/j.ifacol.2019.12.025 Google Scholar[28] Chen K. and Astolfi A., “Adaptive Control for Systems with Time-Varying Parameters,” IEEE Transactions on Automatic Control, Vol. 66, No. 5, 2021, pp. 1986–2001. https://doi.org/10.1109/TAC.2020.3046141 Google Scholar[29] Chen Y.-Y., Chen K. and Astolfi A., “Adaptive Formation Tracking Control for First-Order Agents in a Time-Varying Flowfield,” IEEE Transactions on Automatic Control, available online, 2021. https://doi.org/10.1109/TAC.2021.3074900 Google Scholar[30] Zhang Y. and Tian Y.-P., “Consentability and Protecol Design of Multi-Agent Systems with Stochastic Switching Topology,” Automatica, Vol. 45, No. 5, 2009, pp. 1195–1201. https://doi.org/10.1016/j.automatica.2008.11.005 Google Scholar[31] Wang L. and Xiao F., “Finite-Time Consensus Problems for Networks of Dynamics Agents,” IEEE Transactions on Automatic Control, Vol. 55, No. 4, 2010, pp. 950–955. https://doi.org/10.1109/TAC.2010.2041610 Google Scholar[32] Ren W., “Consensus Strategies for Cooperative Control of Formations,” IET Control Theory & Applications Vol. 1, No. 2, 2007, pp. 505–512. https://doi.org/10.1049/iet-cta:20050401 CrossrefGoogle Scholar Previous article Next article FiguresReferencesRelatedDetailsCited byRobust Stability Margin of Continuous-Time Cooperative Unmanned SystemsRajnish Bhusal and Kamesh Subbarao13 December 2021 | Journal of Guidance, Control, and Dynamics, Vol. 45, No. 3Robust Stability Margin of Continuous-Time Cooperative Unmanned SystemsRajnish Bhusal and Kamesh Subbarao29 December 2021 What's Popular Volume 44, Number 10October 2021 CrossmarkInformationCopyright © 2021 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the eISSN 1533-3884 to initiate your request. See also AIAA Rights and Permissions www.aiaa.org/randp. TopicsAir NavigationBIBO StabilityControl TheoryGuidance, Navigation, and Control SystemsInterdisciplinary TopicsRadio NavigationVehicle TechnologyWatercraft KeywordsClosed Loop SystemAutonomous Underwater VehicleBounded SignalsSpacecraft Formation FlyingPlanetary ExplorationNavigation BeaconNoise AttenuationFormation FlyingNeural NetworksFlow VelocityAcknowledgmentsThis work has been partially supported by the National Natural Science Foundation of China under Grant 61673106, 61973074, by the European Union’s Horizon 2020 Research and Innovation Programme under grant agreement no. 739551 (The KIOS Research and Innovation Centre of Excellence (KIOS CoE)), and by Italian Ministry for Research in the framework of the 2017 Program for Research Projects of National Interest, Grant no. 2017YKXYXJ.PDF Received25 November 2020Accepted15 April 2021Published online3 June 2021