TY - GEN
T1 - Prescribed-Time Clusters Flocking for Multi-Agent Systems of UAVs and USVs
AU - Shang, Hanjun
AU - Wang, Zhenhuan
AU - Tian, Yingxin
AU - Hou, Qimin
AU - Kuang, Jiyuan
AU - Gao, Yabin
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper deals with the problem of clusters flocking for a heterogeneous multi-agent system of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs). The dynamics models of the UAVs and USVs are established separately. Due to the different state dimensions and dynamics models of the UAVs and USVs, the two types of agents are formulated with two clusters. Then, the functions of formation errors of the two clusters are constructed. For the two clusters, a new type of prescribed-time formation control laws is designed respectively. Moreover, compared with the conventional formation control that can only ensure that the multi-agent system completes ideal formations without strict time constraints theoretically, the present prescribed-time control laws can enable the multi-agent system to complete ideal formation strictly at a prescribed time independent of initial formation errors. Finally, the effectiveness of the prescribed-time formation control is verified by simulations.
AB - This paper deals with the problem of clusters flocking for a heterogeneous multi-agent system of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs). The dynamics models of the UAVs and USVs are established separately. Due to the different state dimensions and dynamics models of the UAVs and USVs, the two types of agents are formulated with two clusters. Then, the functions of formation errors of the two clusters are constructed. For the two clusters, a new type of prescribed-time formation control laws is designed respectively. Moreover, compared with the conventional formation control that can only ensure that the multi-agent system completes ideal formations without strict time constraints theoretically, the present prescribed-time control laws can enable the multi-agent system to complete ideal formation strictly at a prescribed time independent of initial formation errors. Finally, the effectiveness of the prescribed-time formation control is verified by simulations.
KW - Formation control
KW - Multi-agent systems
KW - Prescribed-time control
KW - UAVs-USVs
KW - Virtual leader-follower
UR - https://www.scopus.com/pages/publications/85207488703
U2 - 10.1109/EEI63073.2024.10696500
DO - 10.1109/EEI63073.2024.10696500
M3 - 会议稿件
AN - SCOPUS:85207488703
T3 - 2024 6th International Conference on Electronic Engineering and Informatics, EEI 2024
SP - 949
EP - 953
BT - 2024 6th International Conference on Electronic Engineering and Informatics, EEI 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Electronic Engineering and Informatics, EEI 2024
Y2 - 28 June 2024 through 30 June 2024
ER -