Skip to main content
SpringerLink
Log in

Cooperative control of multi-agent moving along a set of given curves

  • Published:
Journal of Systems Science and Complexity Aims and scope Submit manuscript

Abstract

This paper deals with a cooperative control problem of a team of double-integrator agents moving along a set of given curves with a nominated formation. A projection-tracking design method is proposed for designing the path-following control and the formation protocol, which guarantee formation motion of the multi-agent system under a directed communication graph. Necessary and sufficient conditions of the control gains for solving the coordinated problem are obtained when the directed communication graph has a globally reachable node. Simulation results of formation motion among three agents demonstrate the effectiveness of the proposed approach.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. H. Yamaguchi, A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations, Robot. Auton. Syst., 2003, 43(4): 257–282.

    Article  Google Scholar 

  2. H. Yamaguchi, C. R. Kube, and E. Bonabeau, Cooperative transport by ants and robots, Robot. Auton. Syst., 2000, 30(1): 85–101.

    Article  Google Scholar 

  3. J. A. Fax and R. M. Murray, Information flow and cooperative control of vehicle formation, IEEE Trans. Automat. Contr., 2004, 49(9): 1465–1476.

    Article  MathSciNet  Google Scholar 

  4. W. Ren and E. Atkins, Distributed multi-vehicle coordinated control via local information exchange, Int. J. Robust Nonlinear Control, 2007, 17(10–11): 1002–1033.

    Article  MathSciNet  Google Scholar 

  5. B. D. O Anderson, C. Yu, S. Dasgupta, and M. A. Stephen, Control of a three coleaders formation in the plane, Systems and Control Letters, 2007, 56(9–10): 573–578.

    Article  MathSciNet  MATH  Google Scholar 

  6. Y. Y. Chen and Y. P. Tian, A backstepping design for directed formation control of three-coleader agents in the plane, Int. J. Robust Nonlinear Control, 2009, 19(7): 729–745.

    Article  MathSciNet  MATH  Google Scholar 

  7. Adaptive sampling and prediction (ASAP) project. URL: http://www.princeton.edu/~dcsl/asap/.

  8. A. Pascoal, et al., Robotic ocean vehicles for marine science applications: the european ASIMOV project, Proc. of OCEANS’2000 MTS/IEEE, RI, Providence, USA, 2000, 1(11–14): 409–415.

    Google Scholar 

  9. F. Zhang and N. E. Leonard, Coordinated patterns of unit speed particles on a closed curve, Syst. Contr. Lett., 2007, 56(6): 397–407.

    Article  MathSciNet  MATH  Google Scholar 

  10. F. Zhang and N. E. Leonard, Coordinated patterns on smooth curves, Proc. of IEEE International Conference on Networking, Sensing and Control, Ft. Lauderdale, FL, 2006.

  11. F. Zhang, et al., Control of coordinated patterns for ocean sampling, Int. J. Control, 2007, 80(7): 1186–1199.

    Article  MATH  Google Scholar 

  12. R. Ghabcheloo, A. Pascoal, C. Silvestre, and I. Kaminer, Coordinated path following control of multiple wheeled robots using linearization techniques, Int. J. Systems Science, 2005, 37: 399–414.

    Article  MathSciNet  Google Scholar 

  13. R. Ghabcheloo, A. Pascoal, C. Silvestre, and I. Kaminer, Nonlinear coordinated path following control of multiple wheeled robots with bidirectional communication constraints, Int. J. Adapt. Control and Signal Processing, 2007, 21(2–3): 133–137.

    Article  MathSciNet  MATH  Google Scholar 

  14. R. Ghabcheloo, A. Pascoal, C. Silvestre, and I. Kaminer, Coordinated path following control of multiple wheeled robots with directed communication links, Proc. of the 44th IEEE Conference on Decision and Control, and the European Control Conference, Seville, Spain, 2005.

  15. R. Skjetne, S. Moi, and T. I. Fossen, Nonlinear formation control of marine craft, Proc. of Conf. on Decision Contr., Las Vegas, NV, USA, 2002, 2: 1699–1704.

  16. C. Godsil and G. Royle, Algebraic Graph Theory, Springer-Verlag, New York, 2001.

    Book  MATH  Google Scholar 

  17. J. D. Zhu, Y. P. Tian, and J. Kuang, On the general consensus protocol of multi-agent systems with double-integrator dynamics, Linear Algebra and Its Applications, 2009, 431(5–7): 701–715.

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Automation, Southeast University, Nanjing, 210096, China

    Yangyang Chen & Yuping Tian

Authors
  1. Yangyang Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yuping Tian
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yangyang Chen.

Additional information

This research is supported by National Natural Science Foundation of China under Grant Nos. 60974041 and 60934006.

This paper was recommended for publication by Editor Jing HAN.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Chen, Y., Tian, Y. Cooperative control of multi-agent moving along a set of given curves. J Syst Sci Complex 24, 631–646 (2011). https://doi.org/10.1007/s11424-011-9158-1

Download citation

  • Received:

  • Revised:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11424-011-9158-1

Key words

Search

Navigation