博士研究生王悦的论文《Joint Relative Localization and Formation Control for Multi-agent Systems With Non-persistent Excitation》被IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS(IF=7.8)接收

论文摘要

This paper investigates the joint relative localization and formation control problem of leader-follower multi-agent systems in GPS-denied environments. Existing results normally require persistently excited inter-agent relative motion to achieve accurate relative localization, which causes inevitable formation errors. To address this issue, an adaptive distributed relative localization scheme without persistent excitation (PE) motions, is integrated into the leader-follower formation framework, using inter-agent distance and onboard velocity measurements. Specifically, by employing the parameter-estimation-based observer (PEBO) technique and introducing the dynamic extension operation, the time-varying relative position estimation is reformulated as an online constant parameter identification problem. Furthermore, we develop a relative localization based formation control strategy for stationary target formations, and further extend it to scenarios involving dynamic target formations. It is proved that the proposed method guarantees the asymptotical convergence to the desired formations. Finally, both numerical simulations and physical experiments are presented to illustrate the effectiveness of our theoretical results.

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