Fixed-Time Scaling Formation Control Design for Multi-robot System

Ning Zhou; Kuibao Zhu; Li Li; Li Dai

doi:10.1007/978-981-19-3998-3_150

Fixed-Time Scaling Formation Control Design for Multi-robot System

Ning Zhou, Kuibao Zhu, Li Li^*, Li Dai

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We study the distributed scaling formation problem for a network of multi-robot system. A novel scaling formation control algorithm is investigated based on a predesigned fixed-time behavioral method and virtual leader technology. In the developed method, a scaling formation behavior function for each robot is predefined and generated to calculate a desired trajectory in an undirected flow network for achieving predefined time-varying scaling formations within the time allotted. Finally, four examples are given to demonstrate the effectiveness of our design.

Original language	English
Title of host publication	Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control
Editors	Zhang Ren, Yongzhao Hua, Mengyi Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1605-1615
Number of pages	11
ISBN (Print)	9789811939976
DOIs	https://doi.org/10.1007/978-981-19-3998-3_150
Publication status	Published - 2023
Event	5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021 - Shenzhen, China Duration: 19 Jan 2022 → 22 Jan 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	934 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021
Country/Territory	China
City	Shenzhen
Period	19/01/22 → 22/01/22

Keywords

Behavioral control
Fixed-time control
Networked robots
Scaling formation

Access to Document

10.1007/978-981-19-3998-3_150

Cite this

Zhou, N., Zhu, K., Li, L., & Dai, L. (2023). Fixed-Time Scaling Formation Control Design for Multi-robot System. In Z. Ren, Y. Hua, & M. Wang (Eds.), Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (pp. 1605-1615). (Lecture Notes in Electrical Engineering; Vol. 934 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-3998-3_150

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title = "Fixed-Time Scaling Formation Control Design for Multi-robot System",

abstract = "We study the distributed scaling formation problem for a network of multi-robot system. A novel scaling formation control algorithm is investigated based on a predesigned fixed-time behavioral method and virtual leader technology. In the developed method, a scaling formation behavior function for each robot is predefined and generated to calculate a desired trajectory in an undirected flow network for achieving predefined time-varying scaling formations within the time allotted. Finally, four examples are given to demonstrate the effectiveness of our design.",

keywords = "Behavioral control, Fixed-time control, Networked robots, Scaling formation",

author = "Ning Zhou and Kuibao Zhu and Li Li and Li Dai",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021 ; Conference date: 19-01-2022 Through 22-01-2022",

year = "2023",

doi = "10.1007/978-981-19-3998-3_150",

language = "English",

isbn = "9789811939976",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

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editor = "Zhang Ren and Yongzhao Hua and Mengyi Wang",

booktitle = "Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control",

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Zhou, N, Zhu, K, Li, L & Dai, L 2023, Fixed-Time Scaling Formation Control Design for Multi-robot System. in Z Ren, Y Hua & M Wang (eds), Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Lecture Notes in Electrical Engineering, vol. 934 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 1605-1615, 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021, Shenzhen, China, 19/01/22. https://doi.org/10.1007/978-981-19-3998-3_150

Fixed-Time Scaling Formation Control Design for Multi-robot System. / Zhou, Ning; Zhu, Kuibao; Li, Li et al.
Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. ed. / Zhang Ren; Yongzhao Hua; Mengyi Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 1605-1615 (Lecture Notes in Electrical Engineering; Vol. 934 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Dai, Li

PY - 2023

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N2 - We study the distributed scaling formation problem for a network of multi-robot system. A novel scaling formation control algorithm is investigated based on a predesigned fixed-time behavioral method and virtual leader technology. In the developed method, a scaling formation behavior function for each robot is predefined and generated to calculate a desired trajectory in an undirected flow network for achieving predefined time-varying scaling formations within the time allotted. Finally, four examples are given to demonstrate the effectiveness of our design.

AB - We study the distributed scaling formation problem for a network of multi-robot system. A novel scaling formation control algorithm is investigated based on a predesigned fixed-time behavioral method and virtual leader technology. In the developed method, a scaling formation behavior function for each robot is predefined and generated to calculate a desired trajectory in an undirected flow network for achieving predefined time-varying scaling formations within the time allotted. Finally, four examples are given to demonstrate the effectiveness of our design.

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Zhou N, Zhu K, Li L, Dai L. Fixed-Time Scaling Formation Control Design for Multi-robot System. In Ren Z, Hua Y, Wang M, editors, Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Springer Science and Business Media Deutschland GmbH. 2023. p. 1605-1615. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-3998-3_150