Synapse
⌘+K
Synapse
PulseExploreClubsResearchersJournals
Instagram
HomeClubsExplore
December 2, 2024ActuatorsOpen Access

Adaptive Time-Varying Formation Maneuvering Control for Multi-Robot Systems in Complex Obstacle-Rich Environments

View Full Paper
Ask AI
Bookmark
Share

Authors

JZJunmei ZhaoLZLiping ZhangXLXiao Li

Discussion

Loading...

Member takes

Overview

Computational study demonstrates resilient formation tracking in underactuated multi-robot systems under disturbances, indicating enhanced maneuvering in obstacle-rich environments.

Key Points

  • Develop an adaptive time-varying formation control strategy for underactuated multi-robot systems subjected to model parameter uncertainties and environmental disturbances in obstacle-rich environments.
  • Established leader selection guidelines and trajectory planning using affine positioning theory and polynomial interpolation, fixing follower trajectories via a stress matrix.
  • Implemented an Extended State Observer with optimized parameters to estimate and counteract cumulative environmental and model disturbances.
  • Synthesized a distributed affine formation control law addressing nonlinear, strongly coupled dynamics in underactuated vehicles.
  • Demonstrated guaranteed formation tracking to the target configuration within bounded error margins despite continuous disturbances.
  • Verified the efficacy and resilience of the distributed disturbance-rejection control approach via theoretical stability analysis and numerical simulations.

Cite This Study

Zhao et al. (2024) studied this question.

synapsesocial.com/papers/6a746617c2eb6969bf093912https://doi.org/10.3390/act13120493
View Full Paper
Ask AI
Bookmark
Share

Also Consider

Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context:

  1. 1Affine Formation Obstacle Avoidance Control for Multi‐Agent Systems Under an Improved Disturbance Observer2026
  2. 2Affine Formation Maneuver Control for Multi-Agent Based on Optimal Flight System2024 · 9 citations
  3. 3Observer‐Based Affine Formation Maneuver Control of Multi‐Agent Systems With Time Delays2026 · 1 citations
  4. 4Motion Planning and Tracking MPC for Multiagent Systems: A Dynamic Affine Formation Approach.2025 · 1 citations
  5. 5Robust Affine Formation Control of Multiagent Systems2024