Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion
In this paper, a leader motion mechanism is studied for the finite time achievement of any desired formation of a multi-agent system. The approach adopted in this paper exploits a recent technique based on leader motion to the formation control problem of second-order systems, with a special effort...
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| Format: | Article |
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MDPI AG
2024-11-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/17/11/514 |
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| author | Gianfranco Parlangeli |
| author_facet | Gianfranco Parlangeli |
| author_sort | Gianfranco Parlangeli |
| collection | DOAJ |
| description | In this paper, a leader motion mechanism is studied for the finite time achievement of any desired formation of a multi-agent system. The approach adopted in this paper exploits a recent technique based on leader motion to the formation control problem of second-order systems, with a special effort to networks of mobile devices and teams of vehicles. After a thorough description of the problem framework, the leader motion mechanism is designed to accomplish the prescribed formation attainment in finite time. Both asymptotic and transient behavior are thoroughly analyzed, to derive the appropriate analytical conditions for the controller design. The overall algorithm is then finalized by two procedures that allow the exploitation of local data only, and the leader motion mechanism is performed based on data collected by the leader during a preliminary experimental stage. A final section of simulation results closes the paper, confirming the effectiveness of the proposed strategy for formation control of a multi-agent system. |
| format | Article |
| id | doaj-art-3a25af79fc3842f8b2877623cbcd8c7a |
| institution | OA Journals |
| issn | 1999-4893 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj-art-3a25af79fc3842f8b2877623cbcd8c7a2025-08-20T01:53:42ZengMDPI AGAlgorithms1999-48932024-11-01171151410.3390/a17110514Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader MotionGianfranco Parlangeli0Department of Engineering for Innovation, University of Salento, Via per Monteroni, 73100 Lecce, ItalyIn this paper, a leader motion mechanism is studied for the finite time achievement of any desired formation of a multi-agent system. The approach adopted in this paper exploits a recent technique based on leader motion to the formation control problem of second-order systems, with a special effort to networks of mobile devices and teams of vehicles. After a thorough description of the problem framework, the leader motion mechanism is designed to accomplish the prescribed formation attainment in finite time. Both asymptotic and transient behavior are thoroughly analyzed, to derive the appropriate analytical conditions for the controller design. The overall algorithm is then finalized by two procedures that allow the exploitation of local data only, and the leader motion mechanism is performed based on data collected by the leader during a preliminary experimental stage. A final section of simulation results closes the paper, confirming the effectiveness of the proposed strategy for formation control of a multi-agent system.https://www.mdpi.com/1999-4893/17/11/514prescribed-time average consensussecond order systemsformation control |
| spellingShingle | Gianfranco Parlangeli Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion Algorithms prescribed-time average consensus second order systems formation control |
| title | Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion |
| title_full | Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion |
| title_fullStr | Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion |
| title_full_unstemmed | Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion |
| title_short | Data-Driven Formation Control for Multi-Vehicle Systems Induced by Leader Motion |
| title_sort | data driven formation control for multi vehicle systems induced by leader motion |
| topic | prescribed-time average consensus second order systems formation control |
| url | https://www.mdpi.com/1999-4893/17/11/514 |
| work_keys_str_mv | AT gianfrancoparlangeli datadrivenformationcontrolformultivehiclesystemsinducedbyleadermotion |