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Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics
Liangming Chen,Qingkai Yang,Chuanjiang Li,Guangfu Ma 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.5
This paper studies the problem of controlling dynamic formations of mobile agents governed by EulerLagrange dynamics. Here a formation is said to be dynamic if as time evolves, the desired formation undergoes translation, scaling and rotation. First, a constant-gain formation control algorithm is designed such that all agents can converge to the desired dynamic formation, in which the graphic information is needed for the selection of constant gains. Then, another fully distributed formation control algorithm is further proposed by employing variablegain control techniques, which enables each agent to be independent of the knowledge of the overall interaction graph needed otherwise in the control gain. Instead of moving with a desired translational velocity, a centroidtracking formation control algorithm is also proposed such that the centroid of the formation tracks a desired trajectory. The parametric uncertainties are taken into consideration in the proposed formation control algorithms. Finally, simulation examples are provided to validate the effectiveness of the proposed control algorithms.
Taher S. Hassan,Qingkai Kong 대한수학회 2012 대한수학회지 Vol.49 No.5
We consider forced second order differential equation with p-Laplacian and nonlinearities given by a Riemann-Stieltjes integrals in the form of [수식] is strictly increasing such that [수식] with [수식] and [수식] R is nondecreasing. Interval oscillation criteria of the El-Sayed type and the Kong type are obtained. These criteria are further extended to equations with deviating arguments. As special cases, our work generalizes, unies, and improves many existing results in the literature. We consider forced second order differential equation with p-Laplacian and nonlinearities given by a Riemann-Stieltjes integrals in the form of [수식] is strictly increasing such that [수식] with [수식] and [수식] R is nondecreasing. Interval oscillation criteria of the El-Sayed type and the Kong type are obtained. These criteria are further extended to equations with deviating arguments. As special cases, our work generalizes, unies, and improves many existing results in the literature.
Shaojie Zhang,Weifang Shuang,Qingkai Meng 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
A neural adaptive compensation tracking control scheme considering the prescribed tracking performance bound is proposed for a flying wing aircraft with control surface faults, actuator saturation and uncertainties of aerodynamic parameters. Second-order command filters are introduced to avoid the saturation of the actuators, prescribed performance bound strategy is designed to characterize the convergence rate and maximum overshoot of the tracking error, uncertainties of aerodynamic parameters are approximated by online RBF neural networks, and control allocation law is designed to reduce the coupling of the flight dynamics. The closed-loop control law is given based on adaptive backstepping compensation control scheme, and the stability of the closed-loop system is proved by Lyapunov based design. Simulation results are given to illustrate the effectiveness of the proposed neural adaptive compensation control scheme.
Hassan, Taher S.,Kong, Qingkai Korean Mathematical Society 2012 대한수학회지 Vol.49 No.5
We consider forced second order differential equation with $p$-Laplacian and nonlinearities given by a Riemann-Stieltjes integrals in the form of $$(p(t){\phi}_{\gamma}(x^{\prime}(t)))^{\prime}+q_0(t){\phi}_{\gamma}(x(t))+{\int}^b_0q(t,s){\phi}_{{\alpha}(s)}(x(t))d{\zeta}(s)=e(t)$$, where ${\phi}_{\alpha}(u):={\mid}u{\mid}^{\alpha}\;sgn\;u$, ${\gamma}$, $b{\in}(0,{\infty})$, ${\alpha}{\in}C[0,b)$ is strictly increasing such that $0{\leq}{\alpha}(0)<{\gamma}<{\alpha}(b-)$, $p$, $q_0$, $e{\in}C([t_0,{\infty}),{\mathbb{R}})$ with $p(t)>0$ on $[t_0,{\infty})$, $q{\in}C([0,{\infty}){\times}[0,b))$, and ${\zeta}:[0,b){\rightarrow}{\mathbb{R}}$ is nondecreasing. Interval oscillation criteria of the El-Sayed type and the Kong type are obtained. These criteria are further extended to equations with deviating arguments. As special cases, our work generalizes, unifies, and improves many existing results in the literature.