Related papers: Distributed Fixed-Time Consensus Control for Multi…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…
The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…
Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed…
In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic…