13th International Conference on Control, Automation and Systems (ICCAS) -- OCT 20-23, 2013 -- Gwangju, SOUTH KOREA ; Gazi, Veysel/0000-0002-4383-9215 ; WOS:000347178200015 ; In this article we develop a direct adaptive fuzzy control based methodology for formation control and target tracking in a class of multi-agent systems with nonlinear and uncertain dynamics. The agents are assumed to be able to measure only their relative position to the other agents and the target and high gain observers are applied to estimate the derivatives of the combined tracking and formation errors. Various formation maneuvers such as contraction/expansion, rotation, and reconfiguration of the formation are also considered. Bounding and sliding mode control terms are used to guarantee stability and robust performance. Simple numerical simulations are also provided to verify the effectiveness of the algorithm. ; Inst Control, Robot & Syst, Korean Federat Sci & Technol Soc, Gwangju Convent & Visitors Bur, Korea Tourism Org, Chonnam Natl Univ, Robot Res Initiat, POSCO ICT, Samsung Heavy Ind Co Ltd, LS Ind Syst Co Ltd, Bukook Steel Co Ltd, TAEHA Co Ltd, LeeChunTek Orthopaed Specialty Hosp, Dongbu Robot Co Ltd, Future Robot Co Ltd, SICE, IEEE, ACA, AAI, CAA, ISA, CAC ; Scientific and Technological Research Council of Turkey (TlJBiTAK) [109E175]; Canadian NSERCNatural Sciences and Engineering Research Council of Canada (NSERC) [116806] ; V. Gazi was supported by the Scientific and Technological Research Council of Turkey (TlJBiTAK) under grant no 109E175. B. Fidan was supported by the Canadian NSERC Discovery Grant 116806.


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    Titel :

    Adaptive formation control and target tracking in a class of multi-agent systems: Formation maneuvers


    Beteiligte:

    Erscheinungsdatum :

    01.01.2013


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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