Cyclic Pursuit-Fuzzy PD Control Method for Multi-agent Formation Control in 3D Space

被引：8

作者：

Yang, Huixin ^{[1
]}

Wang, Yueying ^{[2
]}

机构：

[1] Shenyang Aerosp Univ, Coll Aerosp Engn, Shenyang 110136, Peoples R China

[2] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China

来源：

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2021年 / 23卷 / 06期

关键词：

Multi-agent formation; Cyclic pursuit algorithm; Reconfiguration control; Fuzzy control; TARGET TRACKING;

D O I：

10.1007/s40815-020-00892-z

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a novel cooperative control method based on cyclic pursuit algorithm and fuzzy control idea, to accomplish reconfiguration of multi-agent formation in 3D space. The idea is to use nonlinear cyclic pursuit control within the formation's longitudinal motion plane, and use fuzzy control-based piecewise proportional derivative (PD) controller for cooperative control in the normal direction of motion. It is called cyclic pursuit-fuzzy PD control method. The control process is divided into different fuzzy sets, for which different control coefficients are set. The paper will present two control strategies to comparatively analyze the performances of control method. As the results demonstrate, the proposed method improves the performance and accuracy of formation reconfiguration control, avoids the inter-member collisions and enhances the system stability.

引用

页码：1904 / 1913

页数：10