Robust Time-Varying Formation Control of One-Sided Lipschitz Nonlinear Multiagent System With Delays via Optimization...

Area of Science:

• Control Theory
• Robotics
• Systems Engineering

Background:

• Nonlinear multi-agent systems (MASs) face challenges in achieving time-varying formations (TVF).
• Existing TVF controllers often fail under significant time delays and external disturbances.
• Robustness and adaptability are critical for MASs in dynamic environments.

Purpose of the Study:

• To develop a novel robust control methodology for nonlinear MASs addressing the TVF problem.
• To enhance controller performance by accommodating larger time-varying delays and external disturbances.
• To optimize the TVF controller using the particle swarm optimization (PSO) algorithm.

Main Methods:

• A Lyapunov functional-based control technique for one-sided Lipschitz (OSL) nonlinear MASs.
• Incorporation of robustness against external disturbances and time-varying delays.
• Integration of Particle Swarm Optimization (PSO) for robust TVF controller optimization.

Main Results:

• The proposed method demonstrates superior robustness in handling larger delays and disturbances compared to conventional approaches.
• Optimized controllers show significant improvements in MAS formation performance.
• Validated effectiveness through simulations on an autonomous aerial vehicle swarm system (AAVSS).

Conclusions:

• The developed robust TVF control methodology is effective for nonlinear MASs.
• The approach offers enhanced performance and robustness, particularly in the presence of delays and disturbances.
• The study validates the superiority and feasibility of the proposed control strategy for practical applications like AAVSS.