Continuous Region-Following Formation Control of Multi-agent Systems

Wenfei Zhang; Gen Wang; Yangyang Zhao; Yu Zhao

doi:10.1007/978-981-99-0479-2_145

Continuous Region-Following Formation Control of Multi-agent Systems

Wenfei Zhang, Gen Wang, Yangyang Zhao, Yu Zhao

School of Automation

Xi'an Modern Control Technology Research Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a region-following formation control (RFFC) problem is studied for multi-agent systems. The objective of RFFC is to develop cooperative algorithms for agents to track the unknown center of dynamic region meanwhile maintaining a specified-configuration formation. Using the boundary layer approximation, a continuous RFFC algorithm is constructed to reduce the control chattering. During the movement, the formation can zoom or rotate subject to constraints of some environmental conditions. Finally, the effectiveness of the designed RFFC algorithm is shown by a numerical example.

Original language	English
Title of host publication	Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
Editors	Wenxing Fu, Mancang Gu, Yifeng Niu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1575-1582
Number of pages	8
ISBN (Print)	9789819904785
DOIs	https://doi.org/10.1007/978-981-99-0479-2_145
State	Published - 2023
Event	International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, China Duration: 23 Sep 2022 → 25 Sep 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1010 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Autonomous Unmanned Systems, ICAUS 2022
Country/Territory	China
City	Xi'an
Period	23/09/22 → 25/09/22

Keywords

Continuous algorithm
Region-following formation control
Time-varying parameters design

Access to Document

10.1007/978-981-99-0479-2_145

Cite this

Zhang, W., Wang, G., Zhao, Y., & Zhao, Y. (2023). Continuous Region-Following Formation Control of Multi-agent Systems. In W. Fu, M. Gu, & Y. Niu (Eds.), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022 (pp. 1575-1582). (Lecture Notes in Electrical Engineering; Vol. 1010 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0479-2_145

Zhang, Wenfei ; Wang, Gen ; Zhao, Yangyang et al. / Continuous Region-Following Formation Control of Multi-agent Systems. Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. editor / Wenxing Fu ; Mancang Gu ; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 1575-1582 (Lecture Notes in Electrical Engineering).

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title = "Continuous Region-Following Formation Control of Multi-agent Systems",

abstract = "In this paper, a region-following formation control (RFFC) problem is studied for multi-agent systems. The objective of RFFC is to develop cooperative algorithms for agents to track the unknown center of dynamic region meanwhile maintaining a specified-configuration formation. Using the boundary layer approximation, a continuous RFFC algorithm is constructed to reduce the control chattering. During the movement, the formation can zoom or rotate subject to constraints of some environmental conditions. Finally, the effectiveness of the designed RFFC algorithm is shown by a numerical example.",

keywords = "Continuous algorithm, Region-following formation control, Time-varying parameters design",

author = "Wenfei Zhang and Gen Wang and Yangyang Zhao and Yu Zhao",

note = "Publisher Copyright: {\textcopyright} 2023, Beijing HIWING Sci. and Tech. Info Inst.; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",

year = "2023",

doi = "10.1007/978-981-99-0479-2_145",

language = "英语",

isbn = "9789819904785",

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publisher = "Springer Science and Business Media Deutschland GmbH",

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Zhang, W, Wang, G, Zhao, Y & Zhao, Y 2023, Continuous Region-Following Formation Control of Multi-agent Systems. in W Fu, M Gu & Y Niu (eds), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Lecture Notes in Electrical Engineering, vol. 1010 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 1575-1582, International Conference on Autonomous Unmanned Systems, ICAUS 2022, Xi'an, China, 23/09/22. https://doi.org/10.1007/978-981-99-0479-2_145

Continuous Region-Following Formation Control of Multi-agent Systems. / Zhang, Wenfei; Wang, Gen; Zhao, Yangyang et al.
Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. ed. / Wenxing Fu; Mancang Gu; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. p. 1575-1582 (Lecture Notes in Electrical Engineering; Vol. 1010 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, a region-following formation control (RFFC) problem is studied for multi-agent systems. The objective of RFFC is to develop cooperative algorithms for agents to track the unknown center of dynamic region meanwhile maintaining a specified-configuration formation. Using the boundary layer approximation, a continuous RFFC algorithm is constructed to reduce the control chattering. During the movement, the formation can zoom or rotate subject to constraints of some environmental conditions. Finally, the effectiveness of the designed RFFC algorithm is shown by a numerical example.

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Zhang W, Wang G, Zhao Y, Zhao Y. Continuous Region-Following Formation Control of Multi-agent Systems. In Fu W, Gu M, Niu Y, editors, Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 1575-1582. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-0479-2_145