Cross-dimensional formation control of second-order heterogeneous multi-agent systems.

This paper is concerned with the cross-dimensional formation control of a second-order multi-dimensional heterogeneous multi-agent system. Agents are first separated into several groups according to their position/velocity vector dimensions. Then the cross-dimensional formation control problem is formulated such that agents in the same group form a time-varying formation in their own dimension and agents in different groups cooperatively move in multiple dimensions. This can make follower agents in different dimensions cooperatively track a leader. Moreover, a cross-dimensional formation protocol is designed based on full or partial information of neighboring agents. For higher-dimensional agents, full information of lower-dimensional neighbors is adopted. For lower-dimensional ones, only partial information of higher-dimensional neighbors is used. Furthermore, a necessary and sufficient condition for the second-order heterogeneous multi-agent system to achieve cross-dimensional formation is provided. Accordingly, a criterion for designing cross-dimensional formation protocol is further derived. Finally, under an undirected graph, a lower-dimensional protocol design criterion is obtained if there is no data exchange between lower- and higher-dimensional followers. The effectiveness of the obtained results is demonstrated through cross-dimensional target enclosing performance analysis for multiple robots and quadrotors.

Network-Based T-S Fuzzy Dynamic Positioning Controller Design for Unmanned Marine Vehicles.

This paper is concerned with a Takagi-Sugeno (T-S) fuzzy dynamic positioning controller design for an unmanned marine vehicle (UMV) in network environments. Network-based T-S fuzzy dynamic positioning system (DPS) models for the UMV are first established. Then, stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the T-S fuzzy DPS and that of the controller. The proposed stabilization criteria can stabilize states of the UMV. The dynamic positioning performance analysis verifies the effectiveness of the networked modeling and the controller design.