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• W4385452017 abstract "This paper proposes a new formation tracking and containment control methodology for multi-agent systems using Negative Imaginary (NI) systems theory. The proposed control scheme consists of a two-loop configuration in which the inner loop applies an appropriate feedback linearising control law to transform the nonlinear dynamics of each agent into a double integrator system, while the outer loop deploys an NI-based formation tracking and containment control protocol on the linearised double integrator agents. This methodology utilises the characteristic loci technique rather than the well-known Lyapunov-based approaches to establish the asymptotic convergence of the formation and containment trajectory tracking errors. Compared to existing methods, the proposed scheme gives more freedom to select a dynamic controller and relies only on output feedback. As a result, it offers better formation tracking and containment performance and advantages when full-state measurements are unavailable. Finally, a real-time flight experiment was conducted on networked Crazyflie quadcopters to examine the control performance in both healthy and faulty (e.g. a sudden loss of agents, communication failure, hardware faults, etc.) operating conditions." @default.
• W4385452017 created "2023-08-02" @default.
• W4385452017 creator A5006287987 @default.
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• W4385452017 date "2023-06-13" @default.
• W4385452017 modified "2023-10-16" @default.
• W4385452017 title "Cooperative Control of Multi-Agent Negative Imaginary Systems with Applications to UAVs, Including Hardware Implementation Results" @default.
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• W4385452017 doi "https://doi.org/10.23919/ecc57647.2023.10178371" @default.
• W4385452017 hasPublicationYear "2023" @default.
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