Adaptive formation control and target tracking in a class of multi-agent systems: Formation maneuvers
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Tarih
2013
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this article we develop a direct adaptive fuzzy control based methodology for formation control and target tracking in a class of multi-agent systems with nonlinear and uncertain dynamics. The agents are assumed to be able to measure only their relative position to the other agents and the target and high gain observers are applied to estimate the derivatives of the combined tracking and formation errors. Various formation maneuvers such as contraction/expansion, rotation, and reconfiguration of the formation are also considered. Bounding and sliding mode control terms are used to guarantee stability and robust performance. Simple numerical simulations are also provided to verify the effectiveness of the algorithm.
Açıklama
13th International Conference on Control, Automation and Systems (ICCAS) -- OCT 20-23, 2013 -- Gwangju, SOUTH KOREA
Gazi, Veysel/0000-0002-4383-9215
Gazi, Veysel/0000-0002-4383-9215
Anahtar Kelimeler
Formation Control, Formation Maneuvers, Multi-Agent Dynamic Systems, Fuzzy Systems, High-Gain Observer
Kaynak
2013 13Th International Conference on Control, Automation and Systems (Iccas 2013)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
