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

Author:

Lan Xuejing12ORCID,Xu Wenbiao3ORCID,Wei Yun-Shan1ORCID

Affiliation:

1. School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China

2. Center for Intelligent Equipment and Internet-Connected Systems, Guangzhou, China

3. Guangdong Institute of Metrology, Guangzhou 510405, China

Abstract

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.

Funder

Scientific Research Foundation of Guangzhou University

Publisher

Hindawi Limited

Subject

Multidisciplinary,General Computer Science

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