TY - GEN
T1 - Distributed Observer-Based Time-Varying Formation Control Under Switching Topologies
AU - Soni, Sandeep Kumar
AU - Soni, Garima
AU - Wang, Siyuan
AU - Boutat, Driss
AU - Djemai, Mohamed
AU - Olaru, Sorin
AU - Reger, Johann
AU - Geha, Daniel
N1 - Publisher Copyright:
© 2023 EUCA.
PY - 2023
Y1 - 2023
N2 - This paper proposes the distributed observer-based control approach to achieve time-varying formation of second-order autonomous unmanned systems (AUSs) under switching topologies. It is assumed that each AUS has access only to the positions of its neighbouring AUS agents. An observer is then designed to estimate the velocity of neighbouring AUS agents. Furthermore, a distributed control for the AUSs is designed using information of position and estimated velocity. A common Lyapunov function is employed in order to establish sufficient conditions for the stability of closed-loop systems. In order to address the effect of switching topologies, a dwell-time condition is has been considered. Moreover, the observer-based time-varying formation controller satisfies the separation principle. Finally, simulation results are presented to illustrate the effectiveness of the proposed approach.
AB - This paper proposes the distributed observer-based control approach to achieve time-varying formation of second-order autonomous unmanned systems (AUSs) under switching topologies. It is assumed that each AUS has access only to the positions of its neighbouring AUS agents. An observer is then designed to estimate the velocity of neighbouring AUS agents. Furthermore, a distributed control for the AUSs is designed using information of position and estimated velocity. A common Lyapunov function is employed in order to establish sufficient conditions for the stability of closed-loop systems. In order to address the effect of switching topologies, a dwell-time condition is has been considered. Moreover, the observer-based time-varying formation controller satisfies the separation principle. Finally, simulation results are presented to illustrate the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/85166488555
U2 - 10.23919/ECC57647.2023.10178289
DO - 10.23919/ECC57647.2023.10178289
M3 - 会议稿件
AN - SCOPUS:85166488555
T3 - 2023 European Control Conference, ECC 2023
BT - 2023 European Control Conference, ECC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 European Control Conference, ECC 2023
Y2 - 13 June 2023 through 16 June 2023
ER -