Formation control for a class of nonlinear multiagent systems using model-free adaptive iterative learning

2017 ◽  
Vol 28 (4) ◽  
pp. 1402-1412 ◽  
Author(s):  
Xuhui Bu ◽  
Lizhi Cui ◽  
Zhongsheng Hou ◽  
Wei Qian
Keyword(s):  
Multiagent Systems ◽  
Formation Control ◽  
Iterative Learning ◽  
Model Free

scholarly journals Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-18 ◽  
Author(s):  
Yeong-Hwa Chang ◽  
Chun-Lin Chen ◽  
Wei-Shou Chan ◽  
Hung-Wei Lin ◽  
Chia-Wen Chang
Keyword(s):  
Collision Avoidance ◽  
Multiagent Systems ◽  
Formation Control ◽  
Descent Method ◽  
Minimum Problem ◽  
Gradient Descent Method ◽  
Consensus Formation ◽  
Distributed Information ◽  
Graph Theoretic ◽  
Learning Rules

This paper aims to investigate the formation control of leader-follower multiagent systems, where the problem of collision avoidance is considered. Based on the graph-theoretic concepts and locally distributed information, a neural fuzzy formation controller is designed with the capability of online learning. The learning rules of controller parameters can be derived from the gradient descent method. To avoid collisions between neighboring agents, a fuzzy separation controller is proposed such that the local minimum problem can be solved. In order to highlight the advantages of this fuzzy logic based collision-free formation control, both of the static and dynamic leaders are discussed for performance comparisons. Simulation results indicate that the proposed fuzzy formation and separation control can provide better formation responses compared to conventional consensus formation and potential-based collision-avoidance algorithms.

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

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xuejing Lan ◽  
Wenbiao Xu ◽  
Yun-Shan Wei
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Relative Position ◽  
Formation Control ◽  
Control Law ◽  
Asymptotically Stable ◽  
Coordinate Systems ◽  
Lyapunov Theorem ◽  
Globally Asymptotically Stable ◽  
3 Dimensional

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.

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