Distributed adaptive formation control of Multi-Agent Systems in three-dimensional space
Journal
IEEE International Conference on Automation Science and Engineering
Journal Volume
2021-August
Pages
2126-2131
Date Issued
2021
Author(s)
Abstract
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.
Event(s)
17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Subjects
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
SDGs
Type
conference paper