This paper addresses the problem of achieving relative position-based formation control for leader-follower multi-agent systems in a distributed manner using a prescribed performance strategy. Both the first and second-order cases are treated and a leader-follower framework is introduced in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system achieves a target formation within certain prescribed performance transient bounds. Under the assumption of tree graphs, a distributed control law is proposed for the first-order case when the decay rate of the performance functions is within a sufficient bound. Then, two classes of tree graphs that can have additional followers are investigated. For the second-order case, we propose a distributed control law based on a backstepping approach for the group ofleaders to steer the entire system achieving the target formation within the prescribed performance bounds. Finally, several simulation examples are given to illustrate the results. ; QC 20220426


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Leader-follower Formation Control with Prescribed Performance Guarantees


    Beteiligte:
    Chen, Fei (Autor:in) / Dimarogonas, Dimos V. (Autor:in)

    Erscheinungsdatum :

    2020-01-01


    Anmerkungen:

    Scopus 2-s2.0-85092939390



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Leader-Follower Based Locally Rigid Formation Control

    Krishna Raghuwaiya / Bibhya Sharma / Jito Vanualailai | DOAJ | 2018

    Freier Zugriff

    Leader-Follower Formation Control of Multiple Quadrotors

    Zhao, Zhihui / Wang, Jing | IEEE | 2018




    Distributed Formation Control of Multi-QUAV Based on Leader-Follower

    Gao, Yali / Wang, Fang / Ma, Zhigang | Springer Verlag | 2021