| 书目名称 | Time-Varying Formation Tracking Control for Nonlinear Swarm Systems | | 编辑 | Jianglong Yu,Xiwang Dong,Zhang Ren | | 视频video | http://file.papertrans.cn/926/925568/925568.mp4 | | 概述 | Constructs the models of most nonlinear swarm systems.Studies the formation control issues for three kinds of nonlinear swarm systems.Provides a variety of effective means to deal with disturbances an | | 图书封面 |  | | 描述 | The book focuses on time-varying formation control approaches for practical nonlinear swarm systems. Time-varying formation control is the basic guarantee for performing other tasks of swarm systems, such as cooperative decision-making and cooperative detection. However, most practical swarm systems have nonlinear dynamic models. This book studies three typical models of practical nonlinear swarm systems, which represent most of the practical systems and construct the corresponding formation control structure. At the same time, the effects of disturbances, uncertain dynamics, random noise and unknown leader‘s input are considered and processed to improve the robustness and adaptability. The comprehensive and systematic treatment of practical nonlinear time-varying formation control issues is one of the major features of the book, which is particularly suited for readers who are interested to learn time-varying formation control solutions in nonlinear swarm systems. The book benefits researchers, engineers and graduate students in the fields of formation control, nonlinear control, robust control, etc. | | 出版日期 | Book 2023 | | 关键词 | Time-varying; Formation Tracking; Nonlinear Multi-agent System; Leader-Follower; Disturbances; Uncertain | | 版次 | 1 | | doi | https://doi.org/10.1007/978-981-99-2858-3 | | isbn_softcover | 978-981-99-2860-6 | | isbn_ebook | 978-981-99-2858-3 | | copyright | The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapor |
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Front Matter |
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Abstract
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,Introduction, |
Jianglong Yu,Xiwang Dong,Zhang Ren |
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Abstract
In this chapter, we first introduce the scientific and engineering background of the cooperative control for nonlinear swarm system. Then we give the brief review of the formation tracking control methods of nonlinear swarm system. Furthermore, we summarize the main contributions of this monograph. Finally, a brief outline of the monograph is presented.
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,Preliminaries, |
Jianglong Yu,Xiwang Dong,Zhang Ren |
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Abstract
This chapter introduces the basic concepts and results for graph theory, algebra and matrix theory, linear and nonlinear system theory, and neural networks control theories, which will be used in the following chapters.
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,Time-Varying Formation Tracking Control for Nonlinear Swarm Systems with Matched Nonlinearity, |
Jianglong Yu,Xiwang Dong,Zhang Ren |
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Abstract
This chapter addresses the time-varying formation tracking problem for nonlinear swarm systems with matched nonlinearity. The dynamics of each agent has heterogeneous nonlinearity. Firstly, the distributed extended state observer is constructed to estimate the heterogeneous nonlinearity of each follower and the unknown control input of the leader simultaneously by using only the neighboring relative output information. Moreover, a protocol based on the distributed extended state observer is proposed in Sect. .. Secondly, an adaptive optimal time-varying formation tracking protocol is proposed. The extended state observers and adaptive neural networks are introduced to estimate the integrated uncertainty and value function for the adaptive protocol, respectively in Sect. .. Thirdly, a nonlinear time-varying formation tracking protocol using distributed adaptive neural networks is proposed which is constructed using only local neighboring information in Sect. .. The stability of the closed-loop system is proven by using the Lyapunov stability theory. Finally, simulation results are given to illustrate the effectiveness of the obtained results. Finally, numerical simulation results are given to illustrate the effectiveness of the obtained theoretical results.
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,Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Swarm Systems with a Noncooperative Leader, |
Jianglong Yu,Xiwang Dong,Zhang Ren |
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Abstract
This chapter addresses the time-varying formation tracking problem for high-order strict-feedback nonlinear swarm systems with a noncooperative leader. Backstepping techniques are applied in design procedures to provide primary variables for each control loop, where two methods are utilized for dealing with the unmatched comprehensive uncertainties. Firstly, hierarchical distributed extended state observer (DESO) is put forward for approximating mismatched nonlinearities of followers together with mismatched nonlinearities of the leader, based on which, a time-varying output formation tracking protocol is raised in Sect. .. Secondly, distributed adaptive neural networks are introduced to approximating mismatched nonlinearities of followers together with mismatched nonlinearities of the leader, and a time-varying output formation tracking protocol is constructed by using adaptive neural networks and back-stepping technique in Sect. .. Thirdly, by constructing collision avoidance, obstacle dodging and connectivity maintenance artificial potential functions, the secure time-varying output formation tracking control issues are solved by using distributed extended state observers and the negative gradient terms of the artificial potential functions in Sect. .. Finally, numerical simulation results are given to illustrate the effectiveness of the obtained theoretical results.
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,Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Swarm Systems with Multiple Leaders, |
Jianglong Yu,Xiwang Dong,Zhang Ren |
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Abstract
This chapter addresses the time-varying time-varying formation tracking problem for high-order strict-feedback nonlinear swarm systems with multiple leaders. Backstepping techniques are also introduced to design the control protocols. Different from the previous chapter, the followers are required for achieving the time-varying output formation tracking of the convex combination of the leaders’ outputs. Firstly, a time-varying formation tracking protocol using adaptive neural networks is proposed using only local neighboring information. The proposed control protocol can process not only the matched/mismatched heterogeneous nonlinearities and disturbances, but also the unknown control inputs of the leaders in Sect. .. Secondly, stochastic noise is considered in the dynamics, and a fully adaptive time-varying output formation tracking protocol is put forward in Sect. ., which only utilizes the neighboring relative information and the global interaction topology information is not used. Thirdly, as an application, cooperative integrated time-varying formation tracking and control issues of multiple missiles system with multiple leader missiles and mismatched uncertainties are investigated in Sect. .. Finally, numerical simulation results are given to illustrate the effectiveness of the obtained theoretical results.
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,Time-Varying Formation Tracking Control for Underactuated Nonlinear Swarm Systems, |
Jianglong Yu,Xiwang Dong,Zhang Ren |
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Abstract
This chapter investigates the time-varying formation tracking analysis and design problems for underactuated nonlinear swarm systems. Two classical underactuated agents are considered. Firstly, the time-varying formation tracking issue is studied for multiple nonholonomic mobile robot systems in Sect. .. Secondly, the formation-containment tracking issues for multiple autonomous surface vessels system with multiple leader vessels are considered in Sect. .. Both two protocols are devised on the base of distributed extended state observers, where the mismatched uncertainties and leaders’ control input signals are estimated and compensated. Finally, numerical simulation results reveal the effectiveness of the acquired theories.
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