For this purpose, at first, a first-order kinematic model of leader–follower and leader–leader formations is obtained, and considering the absolute velocity of the leader robots as an uncertainty, a robust adaptive controller is designed to keep the desired formation. In this case, the upper ...
Among existing studies on formation reconfiguration for multiple unmanned aerial vehicles (multi-UAVs), the majority are conducted on the assumption that the swarm scale is stationary. In fact, because of emergencies, such as communication malfunctions, physical destruction, and mission alteration, the...
Among existing studies on formation reconfiguration for multiple unmanned aerial vehicles (multi-UAVs), the majority are conducted on the assumption that the swarm scale is stationary. In fact, because of emergencies, such as communication malfunctions, physical destruction, and mission alteration, the...
This paper focuses on the fixed-time leader–follower formation control of multiple underwater vehicles (MUVs) in the presence of external disturbances. First, an adaptive fixed-time disturbance observer (AFxDO) is developed to deal with unknown time-varying environmental disturbances. The developed ...
This paper focuses on the fixed-time leader–follower formation control of multiple underwater vehicles (MUVs) in the presence of external disturbances. First, an adaptive fixed-time disturbance observer (AFxDO) is developed to deal with unknown time-varying environmental disturbances. The developed ...
Single UAVs have limited capabilities for complex missions, so suitable solutions are needed to improve the mission success rate, as well as the UAVs’ survivability. A cooperative multi-UAV formation offers great advantages in this regard; however, for
The proposed scheme solved the consensus formation of MRS, but the proposed technique lacks in dealing with several constraints, such as misleading data and package loss due to a Byzantine robot. Hence, this conversation leads to the need for a resilient controller to overcome issues. For the ...