Skip to main content
SpringerLink
Log in

Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

  • Research Paper
  • Published:
Science China Information Sciences Aims and scope Submit manuscript

Abstract

This paper investigates the distributed time-varying formation (TVF) problems for general linear multi-agent systems (MASs) subject to matched bounded uncertainties based on an adaptive event-triggered mechanism. A TVF protocol was designed with an event-triggered mechanism by introducing adaptive weights into the formation control protocol and triggering condition, and the large chattering phenomenon was avoided by the σ-modiflcation adaptive law. According to the Lyapunov stability theory, proof has been established that the MASs in the presence of uncertainties can realize the expected formation that satisfies the given feasible condition. Finally, an example is provided to verify the effectiveness of the proposed algorithm.

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. Dong X W, Yu B C, Shi Z Y, et al. Time-varying formation control for unmanned aerial vehicles: theories and applications. IEEE Trans Contr Syst Technol, 2015, 23: 340–348

    Article  Google Scholar 

  2. Li H, Xie P, Yan W. Receding horizon formation tracking control of constrained underactuated autonomous underwater vehicles. IEEE Trans Ind Electron, 2017, 64: 5004–5013

    Article  Google Scholar 

  3. Wang C, Xie G M, Cao M. Forming circle formations of anonymous mobile agents with order preservation. IEEE Trans Automat Contr, 2013, 58: 3248–3254

    Article  Google Scholar 

  4. Ren W. Consensus strategies for cooperative control of vehicle formations. IET Control Theor Appl, 2007, 1: 505–512

    Article  Google Scholar 

  5. Lin Z Y, Wang L L, Han Z M, et al. A graph laplacian approach to coordinate-free formation stabilization for directed networks. IEEE Trans Automat Contr, 2016, 61: 1269–1280

    Article  MathSciNet  Google Scholar 

  6. Dong X W, Hu G Q. Time-varying formation control for general linear multi-agent systems with switching directed topologies. Automatica, 2016, 73: 47–55

    Article  MathSciNet  Google Scholar 

  7. Zhao S Y. Affine formation maneuver control of multiagent systems. IEEE Trans Automat Contr, 2018, 63: 4140–4155

    Article  MathSciNet  Google Scholar 

  8. Porfiri M, Roberson D G, Stilwell D J. Tracking and formation control of multiple autonomous agents: a two-level consensus approach. Automatica, 2007, 43: 1318–1328

    Article  MathSciNet  Google Scholar 

  9. Ma C Q, Zhang J F. On formability of linear continuous-time multi-agent systems. J Syst Sci Complex, 2012, 25: 13–29

    Article  MathSciNet  Google Scholar 

  10. Dong X W, Xi J X, Lu G, et al. Formation control for high-order linear time-invariant multiagent systems with time delays. IEEE Trans Control Netw Syst, 2014, 1: 232–240

    Article  MathSciNet  Google Scholar 

  11. Dong X W, Shi Z Y, Lu G, et al. Time-varying output formation control for high-order linear time-invariant swarm systems. Inf Sci, 2015, 298: 36–52

    Article  MathSciNet  Google Scholar 

  12. Dong X W, Hu G Q. Time-varying output formation for linear multiagent systems via dynamic output feedback control. IEEE Trans Control Netw Syst, 2017, 4: 236–245

    Article  MathSciNet  Google Scholar 

  13. Wang R, Dong X W, Li Q D, et al. Distributed adaptive time-varying formation for multi-agent systems with general highorder linear time-invariant dynamics. J Franklin Inst, 2016, 353: 2290–2304

    Article  MathSciNet  Google Scholar 

  14. Wang C Y, Zuo Z Y, Gong Q H, et al. Formation control with disturbance rejection for a class of Lipschitz nonlinear systems. Sci China Inf Sci, 2017, 60: 070202

    Article  MathSciNet  Google Scholar 

  15. Zhu W, Zhou Q H, Wang D D, et al. Fully distributed consensus of second-order multi-agent systems using adaptive event-based control. Sci China Inf Sci, 2018, 61: 129201

    Article  MathSciNet  Google Scholar 

  16. Chen J, Gan M G, Huang J, et al. Formation control of multiple Euler-Lagrange systems via null-space-based behavioral control. Sci China Inf Sci, 2016, 59: 010202

    Google Scholar 

  17. Wen G X, Chen C L P, Dou H, et al. Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology. Sci China Inf Sci, 2019, 62: 192205

    Article  MathSciNet  Google Scholar 

  18. Tang T, Liu Z X, Chen Z Q. Event-triggered formation control of multi-agent systems. In: Proceedings of the 30th Chinese Control Conference, 2011. 4783–4786

  19. Ge X, Han Q. Distributed formation control of networked multi-agent systems using a dynamic event-triggered communication mechanism. IEEE Trans Ind Electron, 2017, 64: 8118–8127

    Article  Google Scholar 

  20. Li X D, Dong X, Li Q D, et al. Event-triggered time-varying formation control for general linear multi-agent systems. J Franklin Inst, 2019, 356: 10179–10195

    Article  MathSciNet  Google Scholar 

  21. Zhu W, Cao W, Jiang Z P. Distributed event-triggered formation control of multiagent systems via complex-valued Laplacian. IEEE Trans Cybern, 2019. doi: https://doi.org/10.1109/TCYB.2019.2908190

  22. Wang J H, Xu Y L, Xu Y, et al. Time-varying formation for high-order multi-agent systems with external disturbances by event-triggered integral sliding mode control. Appl Math Comput, 2019, 359: 333–343

    MathSciNet  MATH  Google Scholar 

  23. Wang J H, Zhang X, Xu Y, et al. Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode. IET Control Theory Appl, 2019, 13: 222–229

    Article  MathSciNet  Google Scholar 

  24. Liu T F, Jiang Z P. Distributed formation control of nonholonomic mobile robots without global position measurements. Automatica, 2013, 49: 592–600

    Article  MathSciNet  Google Scholar 

  25. Wang P, Ding B C. Distributed RHC for tracking and formation of nonholonomic multi-vehicle systems. IEEE Trans Automat Contr, 2014, 59: 1439–1453

    Article  MathSciNet  Google Scholar 

  26. Yoo S J, Kim T H. Predesignated fault-tolerant formation tracking quality for networked uncertain nonholonomic mobile robots in the presence of multiple faults. Automatica, 2017, 77: 380–387

    Article  MathSciNet  Google Scholar 

  27. Godsil C D, Royle G. Algebraic Graph Theory. New York: Springer, 2001

    Book  Google Scholar 

Download references

Acknowledgements

This work was supported by Science and Technology Innovation 2030—Key Project of “New Generation Artificial Intelligence” (Grant No. 2018AAA0102303), National Natural Science Foundation of China (Grant Nos. 61922008, 61973013, 61873011, 61803014), Innovation Zone Project (Grant No. 18-163-00-TS-001-001-34), Beijing Natural Science Foundation (Grant No. 4182035), Young Elite Scientists Sponsorship Program by CAST (Grant No. 2017QNRC001), Aeronautical Science Foundation of China (Grant No. 20170151001), Special Research Project of Chinese Civil Aircraft, State Key Laboratory of Intelligent Control and Decision of Complex Systems, Key Laboratory of System Control and Information Processing, and Defense Industrial Technology Development Program.

Author information

Authors and Affiliations

  1. Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    Xiaoduo Li, Xiwang Dong, Qingdong Li & Zhang Ren

  2. Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, 100191, China

    Xiwang Dong & Zhang Ren

  3. Department of Electrical and Computer Engineering, University of Wisconsin-Madison, Madison, Wisconsin, 53706, USA

    Yumeng Bai

Authors
  1. Xiaoduo Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yumeng Bai
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Xiwang Dong
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Qingdong Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Zhang Ren
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xiwang Dong.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Li, X., Bai, Y., Dong, X. et al. Distributed time-varying formation control with uncertainties based on an event-triggered mechanism. Sci. China Inf. Sci. 64, 132204 (2021). https://doi.org/10.1007/s11432-019-2770-8

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s11432-019-2770-8

Keywords

Search

Navigation