Work

Neurodynamics-based formation tracking control of leader-follower nonholonomic multiagent systems

Year: 2024

Type: article

Abstract: This paper uses a bioinspired neurodynamic (BIN) approach to investigate the formation control problem of leader-follower nonholonomic multiagent systems. In scenarios where not all followers can receive the leader's state, a distributed adaptive estimator is presented to estimate the leader's state. The distributed formation controller, designed using the backstepping technique, utilizes the estimated leader states and neighboring formation tracking error. To address the issue of impractical velocity jumps, a BIN-based approach is integrated into the backstepping controller. Furthermore, considering the practical applications of nonholonomic multiagent systems, a backstepping controller with a saturation velocity constraint is proposed. Rigorous proofs are provided. Finally, the effectiveness of the presented formation control law is illustrated through numerical simulations.

Source: Intelligence & Robotics

DOI: 10.20517/ir.2024.21

Authors: Xiao-Wen Zhao, Meng-Ke Li, Qiang Lai, Zhi-Wei Liu

Institutions: Hefei University of Technology, East China Jiaotong University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Funder: National Natural Science Foundation of China

Award: G3946840720