http://scholars.ntou.edu.tw/handle/123456789/22859
標題: | Distributed adaptive formation control of Multi-Agent Systems in three-dimensional space | 作者: | Chih-Wei Chen Ming-Li Chiang Kuan-Yu Su Yu-Wen Chen |
公開日期: | 十月-2021 | 出版社: | IEEE | 來源出版物: | 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) | 會議論文: | 2021 IEEE 17th International Conference on Automation Science and Engineering | 摘要: | In this paper, we discuss formation and maneuver control of multi-agent systems (MAS) in the three-dimensional space. The system is controlled in a distributed manner with connected communication links. Our considered agents are mainly focused on the micro unmanned aerial vehicle (UAV) and thus a second-order integrator model is adopted. The control target is to achieve desired formation and reference trajectory tracking. The agents only use information from their neighbors and keep the connectivity to maintain the communication while tracking the reference trajectory. Moreover, our approach allows the agents to form into the desired shape with a given order relation, due to the given formation formulation and the adaptive control structure. Several examples and software in the loop simulation are given to validate the proposed results. |
描述: | 23-27 August 2021 |
URI: | http://scholars.ntou.edu.tw/handle/123456789/22859 | DOI: | 10.1109/CASE49439.2021.9551547 |
顯示於: | 電機工程學系 |
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