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  • World Scientific Pub Co Pte Ltd  (7)
  • 1
    Online Resource
    Online Resource
    Affine Formation Control of General Linear Multi-Agent Systems with Delays
    World Scientific Pub Co Pte Ltd ; 2023
    In:  Unmanned Systems Vol. 11, No. 02 ( 2023-04), p. 123-132
    Details
    In: Unmanned Systems, World Scientific Pub Co Pte Ltd, Vol. 11, No. 02 ( 2023-04), p. 123-132
    Abstract: This paper studies affine formation control problem of general linear multi-agent systems (MASs) over undirected graph in the presence of time delays. Different delay conditions are considered and predictive observers are designed for the followers to predict the states in the future. Then, affine formation control laws are designed based on the predicted states, and sufficient conditions are derived to ensure the convergence of the formation errors. With an adaptive mechanism, the proposed control laws can be implemented without the usage of global information. Under the proposed protocols, the MASs can form a target formation shape and realize time-varying geometric transformations continuously. Finally, simulations are conducted to verify the effectiveness of the theoretical results.
    Type of Medium: Online Resource
    ISSN: 2301-3850 , 2301-3869
    URL: Article
    DOI: 10.1142/S2301385023410017
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2023
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  • 2
    Online Resource
    Online Resource
    Affine Formation Algorithms and Implementation Based on Triple-Integrator Dynamics
    World Scientific Pub Co Pte Ltd ; 2019
    In:  Unmanned Systems Vol. 07, No. 01 ( 2019-01), p. 33-45
    Details
    In: Unmanned Systems, World Scientific Pub Co Pte Ltd, Vol. 07, No. 01 ( 2019-01), p. 33-45
    Abstract: This paper presents novel affine formation algorithms and implementations in different scenarios for the coordination of multi-agent systems with triple-integrator agent dynamics for both sampled-data and continuous-time settings. The agents in affine maneuver control are to be capable of producing required geometric shapes and simultaneously accomplishing desired maneuvers such as shearing, rotation, translation and scaling. From existing work, these tasks can be accomplished for systems whose agent dynamics are described using double-integrators and the agents communicate continuously in time. In some practical situations, however, the inter-agent communication may be limited to periodic intervals of time. Furthermore, a wide range of systems is governed by complex dynamics described with higher-orders. This paper presents two novel algorithms based on triple-integrator agent dynamics. Four implementation cases comprising of two scenarios each studied in both continuous-time and sampled-data cases are considered. Under the proposed algorithms, the collection of agents are capable of tracking time-varying targets which are affine transforms of the reference formation, if the leaders have knowledge of the required formation maneuvers. Detailed implementation results are presented to demonstrate the efficacy of the proposed algorithms.
    Type of Medium: Online Resource
    ISSN: 2301-3850 , 2301-3869
    URL: Article
    DOI: 10.1142/S2301385019400041
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2019
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  • 3
    Online Resource
    Online Resource
    CIRCADIAN PHASE RE-SETTING USING NONLINEAR OUTPUT-FEEDBACK CONTROL
    World Scientific Pub Co Pte Ltd ; 2012
    In:  Journal of Biological Systems Vol. 20, No. 01 ( 2012-03), p. 1-19
    Details
    In: Journal of Biological Systems, World Scientific Pub Co Pte Ltd, Vol. 20, No. 01 ( 2012-03), p. 1-19
    Abstract: Circadian rhythms occupy an important role in daily biological activities of living species. Circadian disorder is a phenomenon of circadian rhythms which occurs when internal rhythms cannot keep up with the changes of external environment rhythms. Changes of environmental rhythms, presented by the change of light/dark cycles or by irregular rhythms, result in phase shifts between internal and external rhythms. The existence of these phase shifts in longer term has negative effect to health. Therefore, in biological study of circadian rhythms, finding a method to recover the shifted phases to their normal rhythms, which is also the treatment of circadian disorder, is an important required task. In this paper, we propose a control design method to reset the circadian phases. The phase restoration is carried out by the synchronization of trajectories generated from a controlled model with the trajectories of a reference system via nonlinear control design using only one measurement. Both reference and controlled systems are based on a given 3rd order model of Neurospora circadian rhythms. The two other unknown states are estimated using a recently developed nonlinear observer for the output-feedback control.
    Type of Medium: Online Resource
    ISSN: 0218-3390 , 1793-6470
    URL: Article
    DOI: 10.1142/S021833901200421X
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2012
    detail.hit.zdb_id: 2026740-X
    SSG: 12
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  • 4
    Online Resource
    Online Resource
    Editorial: Special Issue on New Advances on Formation Control of Autonomous Vehicles
    World Scientific Pub Co Pte Ltd ; 2019
    In:  Unmanned Systems Vol. 07, No. 01 ( 2019-01), p. 1-2
    Details
    In: Unmanned Systems, World Scientific Pub Co Pte Ltd, Vol. 07, No. 01 ( 2019-01), p. 1-2
    Type of Medium: Online Resource
    ISSN: 2301-3850 , 2301-3869
    URL: Article
    DOI: 10.1142/S2301385019020011
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2019
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  • 5
    Online Resource
    Online Resource
    Graphical Minimax Game and Off-Policy Reinforcement Learning for Heterogeneous MASs with Spanning Tree Condition
    World Scientific Pub Co Pte Ltd ; 2021
    In:  Guidance, Navigation and Control Vol. 01, No. 03 ( 2021-09)
    Details
    In: Guidance, Navigation and Control, World Scientific Pub Co Pte Ltd, Vol. 01, No. 03 ( 2021-09)
    Abstract: In this paper, the optimal consensus control problem is investigated for heterogeneous linear multi-agent systems (MASs) with spanning tree condition based on game theory and reinforcement learning. First, the graphical minimax game algebraic Riccati equation (ARE) is derived by converting the consensus problem into a zero-sum game problem between each agent and its neighbors. The asymptotic stability and minimax validation of the closed-loop systems are proved theoretically. Then, a data-driven off-policy reinforcement learning algorithm is proposed to online learn the optimal control policy without the information of the system dynamics. A certain rank condition is established to guarantee the convergence of the proposed algorithm to the unique solution of the ARE. Finally, the effectiveness of the proposed method is demonstrated through a numerical simulation.
    Type of Medium: Online Resource
    ISSN: 2737-4807 , 2737-4920
    URL: Article
    DOI: 10.1142/S2737480721500114
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2021
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  • 6
    Online Resource
    Online Resource
    Distributed Back-Stepping Consensus Protocol for Attitude Synchronization and Tracking on Undirected Graphs
    World Scientific Pub Co Pte Ltd ; 2019
    In:  Unmanned Systems Vol. 07, No. 01 ( 2019-01), p. 25-32
    Details
    In: Unmanned Systems, World Scientific Pub Co Pte Ltd, Vol. 07, No. 01 ( 2019-01), p. 25-32
    Abstract: This paper investigates the attitude synchronization and tracking problem for multiple spacecraft with an arbitrary differentiable reference. Considering the reference as a leader, the attitude synchronization and tracking problem is then transformed into a leader-following problem. Based on the quaternion representation of the attitude, the attitude tracking error dynamics and kinematics are derived. Treating the dynamics and kinematics as two cascaded subsystems, a back-stepping consensus protocol is designed, and its stability is analyzed using Lyapunov theorem. The proposed protocol is fully distributed since only the local and neighboring information are used. Finally, numerical simulations are performed to verify the effectiveness of the proposed protocol.
    Type of Medium: Online Resource
    ISSN: 2301-3850 , 2301-3869
    URL: Article
    DOI: 10.1142/S230138501940003X
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2019
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  • 7
    Online Resource
    Online Resource
    A Survey of Multi-Agent Systems on Distributed Formation Control
    World Scientific Pub Co Pte Ltd ; 2023
    In:  Unmanned Systems
    Details
    In: Unmanned Systems, World Scientific Pub Co Pte Ltd
    Abstract: Multi-agent formation control is an important part of distributed perception and cooperation, which is convenient to complete various complex tasks and would be a key research direction in the future. This paper reviews the corresponding problems of formation control and the existing centralized and distributed formation control strategies. In particular, we discuss four types of distributed formation control methods based on position and displacement in the global coordinate system and distance and bearing in the nonglobal coordinate system, respectively. Moreover, this paper analyzes affine formation which does not require the global coordinate system. Combined with the current practical applications of multi-agent systems, the latest research for the formation control of the unmanned aerial vehicle (UAV), unmanned ground vehicle (UGV), unmanned surface vehicle (USV) and autonomous underwater vehicle (AUV) is given. Finally, the challenges and opportunities in this burgeoning field are discussed.
    Type of Medium: Online Resource
    ISSN: 2301-3850 , 2301-3869
    URL: Article
    DOI: 10.1142/S2301385024500274
    Language: English
    Publisher: World Scientific Pub Co Pte Ltd
    Publication Date: 2023
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