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Cyclic Pursuit-Fuzzy PD Control Method for Multi-agent Formation Control in 3D Space

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Abstract

This paper proposes a novel cooperative control method based on cyclic pursuit algorithm and fuzzy control idea, to accomplish reconfiguration of multi-agent formation in 3D space. The idea is to use nonlinear cyclic pursuit control within the formation’s longitudinal motion plane, and use fuzzy control-based piecewise proportional derivative (PD) controller for cooperative control in the normal direction of motion. It is called cyclic pursuit-fuzzy PD control method. The control process is divided into different fuzzy sets, for which different control coefficients are set. The paper will present two control strategies to comparatively analyze the performances of control method. As the results demonstrate, the proposed method improves the performance and accuracy of formation reconfiguration control, avoids the inter-member collisions and enhances the system stability.

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Acknowledgements

This work is partially supported by Fund of Doctor Research Project by Shenyang Aerospace University under Grant 18YB12.

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Authors and Affiliations

  1. College of Aerospace Engineering, Shenyang Aerospace University, Shenyang, 110136, China

    Huixin Yang

  2. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Yueying Wang

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  1. Huixin Yang
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  2. Yueying Wang
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Correspondence to Huixin Yang.

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Yang, H., Wang, Y. Cyclic Pursuit-Fuzzy PD Control Method for Multi-agent Formation Control in 3D Space. Int. J. Fuzzy Syst. 23, 1904–1913 (2021). https://doi.org/10.1007/s40815-020-00892-z

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  • DOI: https://doi.org/10.1007/s40815-020-00892-z

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