Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions

Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions

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 p...

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Main Authors: Xuejing Lan, Wenbiao Xu, Yun-Shan Wei
Format: Article
Language:English
Published: Hindawi-Wiley 2018-01-01
Series:Complexity
Online Access:http://dx.doi.org/10.1155/2018/1814653
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spelling doaj-bf69abe2cdf14f59829749db7afecb042020-11-24T21:38:10ZengHindawi-WileyComplexity1076-27871099-05262018-01-01201810.1155/2018/18146531814653Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial PositionsXuejing Lan0Wenbiao Xu1Yun-Shan Wei2School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, ChinaGuangdong Institute of Metrology, Guangzhou 510405, ChinaSchool of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, ChinaThis 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.http://dx.doi.org/10.1155/2018/1814653
collection DOAJ
language English
format Article
sources DOAJ
author Xuejing Lan
Wenbiao Xu
Yun-Shan Wei
spellingShingle Xuejing Lan
Wenbiao Xu
Yun-Shan Wei
Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
Complexity
author_facet Xuejing Lan
Wenbiao Xu
Yun-Shan Wei
author_sort Xuejing Lan
title Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
title_short Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
title_full Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
title_fullStr Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
title_full_unstemmed Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions
title_sort adaptive 3d distance-based formation control of multiagent systems with unknown leader velocity and coplanar initial positions
publisher Hindawi-Wiley
series Complexity
issn 1076-2787
1099-0526
publishDate 2018-01-01
description 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.
url http://dx.doi.org/10.1155/2018/1814653
work_keys_str_mv AT xuejinglan adaptive3ddistancebasedformationcontrolofmultiagentsystemswithunknownleadervelocityandcoplanarinitialpositions
AT wenbiaoxu adaptive3ddistancebasedformationcontrolofmultiagentsystemswithunknownleadervelocityandcoplanarinitialpositions
AT yunshanwei adaptive3ddistancebasedformationcontrolofmultiagentsystemswithunknownleadervelocityandcoplanarinitialpositions
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