A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 1 Issue 1
Jan.  2014

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(1): 92-100
Aolei Yang, Wasif Naeem and Minrui Fei, "Decentralised Formation Control and Stability Analysis for Multi-vehicle Cooperative Manoeuvre," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 92-100, 2014.
Citation: Aolei Yang, Wasif Naeem and Minrui Fei, "Decentralised Formation Control and Stability Analysis for Multi-vehicle Cooperative Manoeuvre," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 92-100, 2014.
shu

Decentralised Formation Control and Stability Analysis for Multi-vehicle Cooperative Manoeuvre

  • Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;

  • 2. School of Electronics, Electrical Engineering and Computer Science, Queen's University Belfast, Belfast BT95AH, UK;

  • 3. Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China

Funds:

This work was supported by National Natural Science Foundation of China (61074032), the Key Project of Science and Technology Commission of Shanghai Municipality (10JC1405000).

    Abstract
  • Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multivehicle formation control problem. It employs the "extensiondecomposition-aggregation" scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.

     

    • FullText(HTML)
  • loading
    • References(21)
  • [1]
    Murray R M. Recent research in cooperative control of multi-vehicle systems. Journal of Dynamic Systems, Measurement, and Control, 2007, 129(5):571-583
    [2]
    Turpin M, Michael N, Kumar V. Trajectory design and control for aggressive formation flight with quad-rotors. Autonomous Robots, 2012, 33(1-2):143-156
    [3]
    Monteiro S, Bicho E. Attractor dynamics approach to formation control:theory and application. Autonomous Robots, 2010, 29(3-4):331-355
    [4]
    Wang J L, Wu H N. Leader-following formation control of multi-agent systems under fixed and switching topologies. International Journal of Control, 2012, 85(6):695-705
    [5]
    Chen G, Lewis F L. Leader-following control for multiple inertial agents. International Journal of Robust and Nonlinear Control, 2011, 21(8):925-942
    [6]
    Mehrjerdi H, Ghommam J, Saad M. Nonlinear coordination control for a group of mobile robots using a virtual structure. Mechatronics, 2011, 21(7):1147-1155
    [7]
    Askari A, Mortazavi M, Talebi H. UAV formation control via the virtual structure approach. Journal of Aerospace Engineering, doi: 10.1061/(ASCE)AS.1943-5525.0000351
    [8]
    Xue D, Yao J, Chen G, Yu Y L. Formation control of networked multi-agent system. IET Control Theory and Application, 2010, 4(10):2168-2176
    [9]
    Fax J A, Murray R M. Information flow and cooperative control of vehicle formations. IEEE Transactions on Automatic Control, 2004, 49(9):1465-1476
    [10]
    Desai J P, Ostrowski J P, Kumar V. Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 2001, 17(6):905-908
    [11]
    Mesbahi M, Hadaegh F Y. Formation flying control of multiple spacecraft via graphs, matrix inequalities, and switching. Journal of Guidance, Control, and Dynamics, 2001, 24(2):369-377
    [12]
    Olfati-Saber R, Murray R M. Distributed structural stabilization and tracking for formations of dynamic multiagents. In:Proceedings of the 41st IEEE Conference on Decision and Control. Las Vegas, USA:IEEE, 2002. 209-215
    [13]
    Ogren P, Egerstedt M, Hu X M. A control Lyapunov function approach to multiagent coordination. IEEE Transactions on Robotics and Automation, 2002, 18(5):847-851
    [14]
    Hong Y G, Gao L X, Cheng D Z, Hu J P. Lyapunov-based approach to multiagent systems with switching jointly connected interconnection. IEEE Transactions on Automatic Control, 2007, 52(5):943-948
    [15]
    Feddema J T, Lewis C, Schoenwald D A. Decentralized control of cooperative robotic vehicles:theory and application. IEEE Transactions on Robotics and Automation, 2002, 18(5):852-864
    [16]
    Yang A L, Naeem W, Irwin G W, Li K. Novel decentralised formation control for unmanned vehicles. In:Proceedings of the 2012 IEEE Intelligent Vehicles Symposium (IV 2012). Alcalá de Henares, Spain:IEEE, 2012. 13-18
    [17]
    Yang A L, Naeem W, Irwin G W, Li K. A decentralised control strategy for formation flight of unmanned aerial vehicles. In:Proceedings of the 2012 UKACC International Conference on Control. Cardiff, UK:IEEE, 2012. 345-350
    [18]
    Yang A L, Naeem W, Irwin G W, Li K. Stability analysis and implementation of a decentralised formation control strategy for unmanned vehicles. IEEE Transactions on Control Systems Technology, doi: 10.1109/TCST.2013.2259168
    [19]
    Khalil H K. Nonlinear Systems (3rd edition). New Jersey:Prentice Hall, 2001
    [20]
    Marius Niculescu. AeroSim Aeronautical Simulation Block Set V1. 2, Users Guide. Oregon, US:Unmanned Dynamics, LLC, 2003
    [21]
    Šiljak D D, Stipanović D M. Robust stabilization of nonlinear systems:the LMI approach. Mathematical Problems in Engineering, 2000, 6(5):461-493
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1588) PDF downloads(19) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return