https://scholars.lib.ntu.edu.tw/handle/123456789/607424
標題: | Distributed adaptive formation control of Multi-Agent Systems in three-dimensional space | 作者: | Chen C.-W Chiang M.-L Su K.-Y Chen Y.-W LI-CHEN FU |
關鍵字: | Adaptive control systems;Antennas;Computer software;Navigation;Unmanned aerial vehicles (UAV);Adaptive Control;Control structure;Control target;Formation control;Integrator models;Ordering relations;Reference trajectories;Second orders;Three dimensional space;Trajectory-tracking;Multi agent systems | 公開日期: | 2021 | 卷: | 2021-August | 起(迄)頁: | 2126-2131 | 來源出版物: | IEEE International Conference on Automation Science and Engineering | 會議論文: | 17th IEEE International Conference on Automation Science and Engineering, CASE 2021 | 摘要: | In this paper, we discuss formation and maneuver control of multi-agent systems (MAS) in the three-dimensional space. The system is controlled in a distributed manner with connected communication links. Our considered agents are mainly focused on the micro unmanned aerial vehicle (UAV) and thus a second-order integrator model is adopted. The control target is to achieve desired formation and reference trajectory tracking. The agents only use information from their neighbors and keep the connectivity to maintain the communication while tracking the reference trajectory. Moreover, our approach allows the agents to form into the desired shape with a given order relation, due to the given formation formulation and the adaptive control structure. Several examples and software in the loop simulation are given to validate the proposed results. ? 2021 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85116959824&doi=10.1109%2fCASE49439.2021.9551547&partnerID=40&md5=2d3c4d0b441887e2256cf047f02cb788 https://scholars.lib.ntu.edu.tw/handle/123456789/607424 |
ISSN: | 21618070 | DOI: | 10.1109/CASE49439.2021.9551547 |
顯示於: | 資訊工程學系 |
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