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Robust adaptive formation control for nonlinear multi-agent systems with range constraints

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Abstract

This paper studies the adaptive distributed formation control design for pure feedback nonlinear multi-agent systems with state time-delay. Neural networks (NNs) are adopted to approximate the unknown nonlinear functions, then Lyapunov–Krasovskii functional and Nussbaum-type function are introduced to solve the state time-delay and unknown control direction problems, respectively. When considering the limitations of communication and collision, a nonlinear error transformation method is developed to achieve the collision avoidance and connectivity maintenance. Combining adaptive backstepping control and dynamic surface control technique, a robust adaptive NN predetermined time formation tracking control method is developed, which demonstrates that all signals of the closed-loop system are semi- globally uniformly ultimately bounded, and formation tracking error converges to a small neighborhood of origin. Finally, the simulation results are provided to illustrate the effectiveness and feasibility of the developed control method and theory.

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The data that support the findings of this study are available on request from the corresponding author. The data are not publicly available due to privacy or ethical restrictions.

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Acknowledgements

This work is supported by National Natural Science Foundation (NNSF) of China under Grant U22A2043.

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  1. College of Science, Liaoning University of Technology, Jinzhou, China

    Xuemei Cao, Kewen Li & Yongming Li

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  1. Xuemei Cao
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  2. Kewen Li
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Correspondence to Yongming Li.

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Cao, X., Li, K. & Li, Y. Robust adaptive formation control for nonlinear multi-agent systems with range constraints. Nonlinear Dyn 112, 1917–1929 (2024). https://doi.org/10.1007/s11071-023-09118-x

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