Adaptive 3D distance-based formation control of multiagent systems with unknown leader velocity and coplanar initial positions
type: Item
instance of: scholarly article
title: Adaptive 3D distance-based formation control of multiagent systems with unknown leader velocity and coplanar initial positions
zbMATH Open document ID: 1405.93018
DOI: 10.1155/2018/1814653
author: Xuejing Lan
author: Wenbiao Xu
author: Yun-Shan Wei
published in: Complexity
publication date: 2018-12-18T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93A14
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T42
Mathematics Subject Classification ID: 93C15
zbMATH DE Number: 6995121
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/1814653
OpenAlex ID: W2890152125
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description: scientific article; zbMATH DE number 6995121