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Please use this identifier to cite or link to this item: http://scholars.ntou.edu.tw/handle/123456789/22856
Title: Three-Dimensional Maneuver Control of Multiagent Systems With Constrained Input
Authors: Yu-Wen Chen
Ming-Li Chiang 
Li-Chen Fu
Keywords: DISTRIBUTED FORMATION CONTROL;VARYING FORMATION CONTROL;NETWORK LOCALIZATION;COOPERATIVE CONTROL;CONTAINMENT CONTROL;TIME-DELAY;COORDINATION;CONSENSUS;AGENTS
Issue Date: Apr-2022
Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Source: IEEE Transactions on Cybernetics
Abstract: 
In this article, we propose a new 3-D maneuver controller for a class of nonlinear multiagent systems (MASs) with nonholonomic constraint and saturated control. The system is designed under a distributed communication topology and the controller is more flexible and efficient for general formation maneuver tasks. The saturation design generates control inputs within pregiven bounds, which makes the system more applicable in practice. Moreover, based on the nonholonomic model, the proposed control also considers the heading angles of the agents. Thus, the maneuver controller can achieve a more natural tracking movement where the heading of the formation will align to the direction of the reference trajectory during the tracking motion. Several simulation examples are given to validate our results and demonstrate the competence for various maneuver tasks of MASs.
URI: http://scholars.ntou.edu.tw/handle/123456789/22856
ISSN: 2168-2267
DOI: 10.1109/TCYB.2022.3165767
Appears in Collections:電機工程學系

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