An adaptive backstepping design for formation tracking motion in an unknown Eulerian specification flowfield

Abstract This paper considers the problem of directing second-order agents tracking a family of simple, closed curves and maintaining a spatiotemporal formation in an unknown spatiotemporal flowfield, where the description of flowfield is Eulerian specification that includes almost all of flowfields in the literature (e.g. the uniform, constant wind, the uniform rotating flowfield and the parameterizable flowfield). Adaptive backstepping technology is first applied with our previous geometric extension to construct the robust formation tracking control and then combined with consensus to propose a new adaptive estimator for the unknown flow speed vector. It is proved that the designed cooperative control system is asymptotically stable if the communication topology is connected. Simulation results are given to verify the theoretical analysis.

[1]  Naomi Ehrich Leonard,et al.  Coordinated patterns of unit speed particles on a closed curve , 2007, Syst. Control. Lett..

[2]  Jianbin Qiu,et al.  A Combined Adaptive Neural Network and Nonlinear Model Predictive Control for Multirate Networked Industrial Process Control , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[3]  Y. Zhang,et al.  Coordinated orbit-tracking control of second-order non-linear agents with directed communication topologies , 2016, Int. J. Syst. Sci..

[4]  Derek A. Paley,et al.  Backstepping control design for motion coordination of self-propelled vehicles in a flowfield , 2011 .

[5]  Yu-Ping Tian,et al.  Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow , 2015, Nonlinear Dynamics.

[6]  Naomi Ehrich Leonard,et al.  Control of coordinated patterns for ocean sampling , 2007, Int. J. Control.

[7]  Derek A. Paley,et al.  Distributed Estimation for Motion Coordination in an Unknown Spatially Varying Flowfield , 2013 .

[8]  Jianbin Qiu,et al.  Adaptive Neural Control of Stochastic Nonlinear Time-Delay Systems With Multiple Constraints , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[9]  Yu-Ping Tian,et al.  A curve extension design for coordinated path following control of unicycles along given convex loops , 2011, Int. J. Control.

[10]  Yan Lin,et al.  Decentralized adaptive backstepping control for a class of interconnected nonlinear systems with unknown actuator failures , 2015, J. Frankl. Inst..

[11]  Naomi Ehrich Leonard,et al.  Collective Motion, Sensor Networks, and Ocean Sampling , 2007, Proceedings of the IEEE.

[12]  Yi Dong,et al.  Cooperative Global Output Regulation for a Class of Nonlinear Multi-Agent Systems , 2014, IEEE Transactions on Automatic Control.

[13]  Yu-Ping Tian,et al.  Formation tracking and attitude synchronization control of underactuated ships along closed orbits , 2015 .

[14]  C. Samson,et al.  Trajectory tracking for unicycle-type and two-steering-wheels mobile robots , 1993 .

[15]  Qin Wang,et al.  Decentralized adaptive output feedback dynamic surface control of interconnected nonlinear systems with unmodeled dynamics , 2015, J. Frankl. Inst..

[16]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion: All-to-All Communication , 2007, IEEE Transactions on Automatic Control.

[17]  Derek A. Paley,et al.  Stabilization of Collective Motion in a Time-Invariant Flowfield , 2009 .

[18]  Zhiyong Chen,et al.  No-beacon collective circular motion of jointly connected multi-agents , 2011, Autom..

[19]  Derek A. Paley,et al.  Multivehicle Coordination in an Estimated Time-Varying Flowfield , 2011 .

[20]  Timothy W. McLain,et al.  Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs , 2006, Proceedings of the IEEE.

[21]  Tyler H. Summers,et al.  Coordinated Standoff Tracking of Moving Targets: Control Laws and Information Architectures , 2008 .