Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
Joint Authors
Lan, Xuejing
Xu, Wenbiao
Wei, Yun-Shan
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-06
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper considers the distributed 3-dimensional (3D) distance-based formation control of multiagent systems, where the agents are connected based on an acyclic minimally structural persistent (AMSP) graph.
A parameter is designed according to the desired formation shape and is used to solve the problem that there are two formation shapes satisfying the same distance requirements.
The unknown moving velocity of the leader agent is estimated adaptively by the followers requiring only the relative position measurements with respect to their local coordinate systems.
In addition, the proposed formation controller provides a new way for the agent to leave the initial coplanar location.
The 3D formation control law is globally asymptotically stable and has been demonstrated based on the Lyapunov theorem.
Finally, two numerical simulations are presented to support the theoretical analysis.
American Psychological Association (APA)
Lan, Xuejing& Xu, Wenbiao& Wei, Yun-Shan. 2018. Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions. Complexity،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1133009
Modern Language Association (MLA)
Lan, Xuejing…[et al.]. Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions. Complexity No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1133009
American Medical Association (AMA)
Lan, Xuejing& Xu, Wenbiao& Wei, Yun-Shan. Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions. Complexity. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1133009
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1133009