A Multiple Lyapunov Functions Approach for Formation Tracking Control. Issue 38 (2022)

• Record Type: Journal Article
• Authors: Soni, Sandeep Kumar; Wang, Siyuan; Sachan, Ankit; Boutat, Driss; Djemai, Mohamed
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 38(2022)
• Page Start: 184
• Page End: 189
• Publication Date: 2022
• Subjects: Formation control -- switching topologies -- distributed control -- multi-agent systems; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2023.01.153
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper proposes a leader-follower formation tracking control problem of autonomous unmanned systems with switching directed topologies, where the leader is dynamic. It is considered that the followers have only access to the leader's position. The distributed observer is designed to estimate the velocity of the leader for each follower. Based on the estimated states, this paper presents a distributed formation tracking control algorithm. Using multiple Lyapunov functions (MLFs) stability is ensured. For dealing with switching topologies, the average dwell time (ADT) concept has been used, which relaxes the traditional dwell time restriction for switching topologies. Finally, a numerical simulation demonstrates the theory's effectiveness.