Formation Maneuvering Control Research Articles

Adaptive Time-Varying Formation Maneuvering Control for Multi-Robot Systems in Complex Obstacle-Rich Environments

To tackle the challenge of time-varying formation control for underactuated robots under model parameter uncertainties and environmental disturbances, this study proposes an affine formation control approach enhanced by an Extended State Observer. Initially, using affine positioning theory and polynomial interpolation, guidelines for selecting leader vehicles and trajectory planning methods are established, whereby the trajectory of follower vehicles is uniquely determined through the stress matrix. To address the cumulative disturbances arising from model uncertainties and environmental factors impacting the formation, an Extended State Observer with optimized parameters is introduced. Furthermore, a distributed affine formation control method with disturbance rejection is designed specifically for underactuated robots with “nonlinear, strongly coupled” dynamics, ensuring that the formation system can track the target configuration within bounded error margins. Finally, theoretical analysis and simulation outcomes ultimately confirm the efficacy of the control approach in achieving resilient formation tracking.

Distributed Adaptive Integral Sliding Mode Affine Formation Maneuver Control for Multiple AUVs With Event-Triggered Chattering- Reduction Mechanism

Distributed Adaptive Integral Sliding Mode Affine Formation Maneuver Control for Multiple AUVs With Event-Triggered Chattering- Reduction Mechanism

Directed interactive topology optimization design for multi-agent affine formation maneuver control

This paper investigates the directed interactive topology optimization design problem for multi-agent affine formation maneuver control. Firstly, considering the optimization indexes such as information interaction cost and information spreading energy consumption, a directed topology optimization model satisfying affine formation maneuver is established, including two sub-models of topology structure construction and weight allocation. Secondly, aiming at the topological structure construction for affine formation maneuver, a directed k-rooted graph detection method is proposed, which can realize the solution of d +1 -rooted constraint for directed information interaction topology, and then an improved NSGA-II topological structure construction optimization algorithm is designed. Finally, a formation of seven agents in twodimensional space is taken as an example for simulation verification. The results show that the improved topology NSGA -II topology construction optimization The algorithm has better optimization effects, can effectively provide a variety of feasible directed interactive topologies for affine formation maneuver control, and the generated interactive topology can meet the requirements of directed d +1 -rooted graph.

Distributed-observer-based adaptive fault tolerant formation maneuver for autonomous surface vehicles under stochastic cyber-attack

This paper investigates the distributed adaptive fault-tolerant formation maneuver control strategy for multiple autonomous surface vehicles (ASVs) systems subject to stochastic cyber-attack and actuator failures. Existing works have provided solutions against continuous attacks on communication channels while ignoring the increasingly prevalent intermittent attacks. Compared to the former, the latter are more challenging to detect, having been insufficiently described and addressed. Motivated by this observation, this article is concerned with the stochastic intermittent injection attacks, which are modeled as stochastic impulsive sequences, characterized by stochastic injection instant and intensity, leading to unpredictable changes in the state information transmitted by the neighbors. Taking this dilemma into consideration, a novel distributed observer is proposed, capable of effectively observing the target formation even in the presence of stochastic intermittent injection attacks. Meanwhile, a large feedback gain is incorporated into the observer to reduce the impact of attacks on system stability. A linear sliding manifold, together with the adaptive algorithm, is utilized to construct a fault tolerant control architecture for each follower ASV without employing model parameters which can confront the embarrassing scenario of actuator failures. Eventually, theoretical deduction and numerical simulations are conducted to confirm the feasibility of the proposed collaborative control scheme.

Unified bounded potential function approach for multi-hovercraft connectivity-maintaining and formation maneuvering control without acceleration measurement

This paper addresses the distributed leader–follower connectivity-maintaining and formation maneuvering control issue for underactuated multi-hovercraft without acceleration measurement. Firstly, a novel time-varying offset term is introduced into the position vector, which transforms the motion equation of the hovercraft into a fully actuated form. In addition, an unified bounded potential function strategy is proposed to simultaneously achieve connectivity-maintaining and formation maneuvering error stabilization without the need to design additional formation error stability terms in the controller. Then, in the absence of dynamic leader acceleration measurement, a distributed variable structure robust term is introduced into the bounded formation maneuvering control protocol, which resists entirely the influence of unknown acceleration on the system. The proposed protocol was rigorously analyzed using the Lyapunov theory. Finally, simulation results validate the effectiveness of the proposed control protocol.

Critic learning control via zero-sum differential game for affine formation maneuver of multi-agent systems with cyber-attacks

The affine formation maneuver (AFM) control problem using the zero-sum differential game is studied for a second-order multi-agent system (MAS) against cyber-injection attacks on the actuators. First and foremost, the distributed control signals and the cyber-injected attack signals are viewed as two competing teams. Then, the leader-follower tracking error system is established where the followers aim to track the AFMs of the leaders. The leader-follower distributed optimal control policies and the cyber-attack attenuation policies are derived from the Nash equilibrium solution of the Hamilton-Jacobi-Isaac (HJI) equation. The solution of the HJI equation is estimated with the aid of the critic neural network. The weights of the critic system are learned online based on the adaptive dynamic programming (ADP) scheme. The uniformly ultimately bounded stability of the closed-loop system under the formulated zero-sum differential game control strategy has been proven by the Lyapunov stability theorem. A simulation example illustrates that the presented control method can attenuate cyber-injection attacks on the actuators and maintain the AFMs of the agents.

Dynamics Event-Triggered-Based Time-Varying Bearing Formation Control for UAVs

This article addresses the leader-follower formation maneuver control problem of multiple unmanned aerial vehicles (UAVs), taking into account the time-varying velocity and time-varying relative bearing. An event-triggered bearing-based distributed velocity observer was designed, using only the desired position and velocity of the leaders. Furthermore, a dynamic event-triggered mechanism was introduced to reduce continuous communication between UAVs, thus effectively saving communication bandwidth and resources. Building on this, a bearing-only formation maneuver control strategy was proposed, integrating the event-triggered velocity observer with the backstepping control approach. To conclude, numerical simulations have been conducted to confirm the effectiveness of the proposed scheme in accomplishing formation maneuver control objectives, including translation, scaling, and rotation control. Furthermore, the advantages of the dynamic event-triggering strategy have been demonstrated through comparative simulations with traditional event-triggering strategies. Additionally, the effectiveness of the proposed observer and controller has been demonstrated by a comprehensive hardware-in-the-loop (HITL) simulation example.

Distributed predefined-time estimator-based affine formation target-enclosing maneuver control for cooperative underactuated quadrotor UAVs with fault-tolerant capabilities

The paper presents a two-layer, disturbance-resistant, and fault-tolerant affine formation maneuver control scheme that accomplishes the surrounding of a dynamic target with multiple underactuated Quadrotor Unmanned Aerial Vehicles (QUAVs). This scheme mainly consists of predefined-time estimators and fixed-time tracking controllers, with a hybrid Laplacian matrix describing the communication among these QUAVs. At the first layer, we devise predefined time estimators for leading and following QUAVs, enabling accurate estimation of desired information. In the second layer, we initially devise a fixed-time hybrid observer to estimate unknown disturbances and actuator faults. Fixed-time translational tracking controllers are then proposed, and the intermediary control input from these controllers is used to extract the desired attitude and angular velocities for the fixed-time rotational tracking controllers. We employ an exact tracking differentiator to handle variables that are challenging to differentiate directly. The paper includes a demonstration of the control system stability through mathematical proof, as well as the presentation of simulation results and comparative simulations.

Affine formation maneuver control of underactuated surface vessels: Guaranteed safety under moving obstacles in narrow channels

This research tackles the challenge of dynamic formation control and collision avoidance in underactuated surface vessels (USVs). Firstly, an affine transformation is employed to implement arbitrary configuration transformations within the multi-USV system. Secondly, by considering both distances and velocities between USVs and obstacles, a novel collision avoidance scheme is proposed based on conventional distance-based artificial potential field methods. This method, building on traditional distance-based artificial potential fields, offers a more precise assessment of collision risks, thereby notably shrinking the potential collision zones. Such refinement leads to reduced energy consumption and minimizes disruption to formation integrity. Thirdly, an anti-perturbation formation maneuver safety control scheme is introduced to achieve a time-varying target formation without collisions, ensuring that local position tracking errors remain bounded. The effectiveness of the proposed approaches is substantiated through comprehensive theoretical analysis and extensive numerical simulations, underscoring their practical applicability.

Affine Formation Maneuver Control for Multi-Agent Based on Optimal Flight System

The use of affine maneuver control to maintain the desired configuration of unmanned aerial vehicle (UAV) swarms has been widely practiced. Nevertheless, the lack of capability to interact with obstacles and navigate autonomously could potentially limit its extension. To address this problem, we present an innovative formation flight system featuring a virtual leader that seamlessly integrates global control and local control, effectively addressing the limitations of existing methods that rely on fixed configuration changes to accommodate real-world constraints. To enhance the elasticity of an algorithm for configuration change in an obstacle-laden environment, this paper introduces a second-order differentiable virtual force-based metric for planning local trajectories. The virtual field comprises several artificial potential field (APF) forces that adaptively adjust the formation compared to the existing following control. Then, a distributed and decoupled trajectory optimization framework that considers obstacle avoidance and dynamic feasibility is designed. This novel multi-agent agreement strategy can efficiently coordinate the global planning and local trajectory optimizations of the formation compared to a single method. Finally, an affine-based maneuver approach is employed to validate an optimal formation control law for ensuring closed-loop system stability. The simulation results demonstrate that the proposed scheme improves track accuracy by 32.92% compared to the traditional method, while also preserving formation and avoiding obstacles simultaneously.

Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control

Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control

Distributed Formation Maneuver Control Using Complex Laplacian

Distributed Formation Maneuver Control Using Complex Laplacian

Specified-Time Affine Formation Maneuver Control of Multiagent Systems Over Directed Networks

Specified-Time Affine Formation Maneuver Control of Multiagent Systems Over Directed Networks

Fuzzy Model Predictive Formation Maneuver Control of Multi-UAVs with Interval Output-Constrained

Fuzzy Model Predictive Formation Maneuver Control of Multi-UAVs with Interval Output-Constrained

Similarity-Based Rigidity Formation Maneuver Control of Underactuated Surface Vehicles Over Directed Graphs

Similarity-Based Rigidity Formation Maneuver Control of Underactuated Surface Vehicles Over Directed Graphs

Event-Based Affine Formation Maneuver Control for Multi-ASV Systems With Input Saturation

Event-Based Affine Formation Maneuver Control for Multi-ASV Systems With Input Saturation

Energy Tradeoff-Oriented Quasi-Optimal Distributed Affine Formation Maneuver Control for Electric Marine Surface Vehicles

Energy Tradeoff-Oriented Quasi-Optimal Distributed Affine Formation Maneuver Control for Electric Marine Surface Vehicles

Affine Formation Maneuver Control for NUSVs: An Anti-Competing Interaction Solution With Random Packet Losses

Affine Formation Maneuver Control for NUSVs: An Anti-Competing Interaction Solution With Random Packet Losses

Output Affine Formation Maneuver Control for Heterogeneous Multiagent Systems With Nonautonomous Leaders

Output Affine Formation Maneuver Control for Heterogeneous Multiagent Systems With Nonautonomous Leaders

Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

AbstractThis article studies the two‐layer leader‐follower optimal affine formation maneuver (AFM) control problem for multiple unmanned surface vessels (USV). The basic idea of the developed two‐layer control framework is to realize the time‐varying formation for the leader group in advance, and then let the follower USVs agilely respond to the target formation affinely localized by leaders. To realize this goal, a time‐varying formation reference system is first synthesized to describe leaders' target formation in the affine map of the nominal configuration. The reference system is set up by virtual vessel velocity command and unrotated geometric command, which make it possesses an intuitive application structure for operators to plan AFM commands in real‐time sensed surrounding environments. Then, by means of optimized backstepping design and the adaptive dynamic programming technique, actor‐only reinforcement learning controllers are established for USVs in both two layers to realize the optimal target formation tracking objective. For the proposed optimal controllers, the persistent excitation condition that is required by common optimal control schemes is also removed, which endows the presented scheme with lower computational complexity. Finally, theoretical analysis and simulation results illustrate the closed‐loop stability and the effectiveness of the presented scheme.