Jianglong Yu

Beihang University (BUAA) | BUAA · Department of Automatic Control

This paper studies the distributed time-varying output formation tracking problem for heterogeneous multi-agent systems with both diverse dimensions and parameters. The output of each follower is supposed to track that of the virtual leader while accomplishing a time-varying formation configuration. First, a distributed trajectory generator is prop...

This paper investigates the distributed convex time-varying optimization issue for multi-agent systems described by second-order with local disturbances produced by exosystems. Assuming each agent possessing a local cost function, the objective of this paper is to realize zero optimal tracking error considering the influences of extra disturbances...

An improved auction algorithm named compensation auction algorithm (CAA) is proposed for the air-to-air confrontation problem in attack scenarios. First, in order to represent the conflict in assignment, a damage benefit function is established according to the guidance rules. Secondly, a multi-constraint dynamic model of multi-weapon attacking mul...

This paper constructed a collaborative combat effectiveness evaluation system with considering the characteristics and limitations of the vehicles. Firstly, multiple hypersonic vehicles formation problem is converted to an optimization problem based on the collaborative combat effectiveness evaluation system. Secondly, the relative distance and ang...

In the scenario that multiple missiles intercept one active defense target with multiple defenders. The missiles aim to finish the tasks that intercept the target from different directions to achieve saturation and evade from the defenders at the same time and each defender aim at different missile. Different from the existing results, multiple def...

This paper proposes a hierarchical distributed formation tracking controller for continuous multi-agent systems (MASs). Firstly, a zero-sum game-based regulation controller is designed according to a min-max game cost function with respect to the control-player and a disturbance-player using reinforcement learning (RL). The H∞ robust property again...

In this paper, Nash equilibrium seeking problems for N-coalition noncooperative games played by double-integrator agents are investigated, where feedback controllers are designed to steer the physical processes to a generalized Nash equilibrium (GNE). Each coalition can be considered as a virtual player in an N-player game that tries to minimize it...

Cooperative guidance issues with impact time consensus against a maneuvering target are considered in this paper. Different from the existing achievements, the expected impact time does not need to be predesigned, which is coordinated by multiple missiles using the neighboring information. First, the impact time consensus command is generated by us...

In this paper, we propose an algorithm that estimate 3D relative pose transformation based on range measurements between robots and pose estimates produced by VI-SLAM system. Specifically, we prove that 5 range measurements is needed at least to estimate 4 degrees-of-freedom relative pose transformation for nonsingular configurations. Additionally,...

Cooperative guidance of multiple missiles against a non-cooperative target with angle constraint and time constraint is investigated. Firstly, guidance model is constructed from guidance kinematics. Secondly, an exponentially convergent state observer and an extended-state-observer (ESO) are designed respectively to estimate unknown target informat...

This paper presents a novel robust cooperative guidance law against high-maneuvering target based on state information obtained from networked distributed estimation. To attack the target accurately, a distributed state estimation algorithm is proposed by two steps: local filter and interaction fusion. During the interaction fusion step, the accura...

In the multi-sensor multi-target tracking (MSMTT) problem, the matching of the measurements and the targets will generate a huge computational burden, resulting in an unsatisfactory real-time performance of the maneuvering targets tracking. In order to reduce the computational burden, this paper proposes a self-organizing feature map (SOM) neural n...

This paper studies the distributed output-feedback consensus tracking problem for nonlinear multi-agent systems (MASs) subject to dynamic output constraints and input saturation. Firstly, a neural-network (NN) based high gain observer is designed to provide estimation for unmeasured state of each agent. To address the dynamic output constraints pro...

This article studies the distributed formation optimal tracking problems for Euler–Lagrange systems, where each agent only has access to local cost function and other relative state information with its neighbors. Different from existing works, the effects of time-varying formation, parametric uncertainties, external disturbances and optimal perfor...

Computational guidance is an emerging and accelerating trend in aerospace guidance and control. Combining machine learning and convex optimization, this paper presents a real-time computational guidance method for the 6-degrees-of-freedom powered landing guidance problem. The powered landing guidance problem is formulated as an optimal control prob...

This article investigates the practical time-varying output formation tracking (TVOFT) problem for heterogeneous nonlinear multiagent systems (MASs) having multiple leaders, where agents herein could have heterogeneous dynamics and interact with each other under event-triggered communications. It is required that the outputs of followers not only t...

This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and...

Nash equilibrium seeking problems for $N$ -coalition noncooperative games are studied in this paper, where the players in the game possess second-order fully-actuated dynamics with disturbances and uncertainties. The players in one coalition focus on the minimization of the coalition cost instead of individual costs. Moreover, only measurements o...

This paper studies the multi-agent differential game based problem and its application to cooperative synchronization control. A systematized formulation and analysis method for the multi-agent differential game is proposed and a data-driven methodology based on the reinforcement learning (RL) technique is given. First, it is pointed out that typic...

The cooperative guidance issues for multiple missiles against a maneuvering target with collision avoidance and obstacle dodging mechanism are considered. Firstly, a fully head-on guidance law is designed by using backstepping control and trajectory shaping techniques, which provides a great reference trajectory for the leader missile. Secondly, ba...

The adaptive practical optimal time-varying formation tracking problems of the disturbed high-order multi-agent systems with a noncooperative leader are considered. Different from the former achievements, the effects of the leader’s unknown control input and followers’ external disturbances are both considered in the optimal time-varying formation...

This paper investigates the time-varying output formation tracking problem of heterogeneous multi-agent systems subjected to model uncertainties and external disturbances via adaptive event-triggered mechanism. Firstly, an adaptive distributed event-triggered observer is constructed to acquire the leader’s state and a time-varying formation output...

The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated as a nonconvex optimal control problem. The nonconvex optimal control problem is transformed into a second-orde...

The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated as a nonconvex optimal control problem. The nonconvex optimal control problem is transformed into a second-orde...

This article investigates a fully data-driven method to solve the robust output formation tracking control problem for the multiagent system (MAS) under actuator faults. The outputs of the followers are controlled to track those of multiple leaders with respect to a convex point while achieving an expected time-varying formation. To obviate the req...

This paper focuses on the time-varying output formation (TVOF) tracking control of heterogeneous linear multi-agent systems (HL-MASs) with both delays and switching topologies, where the followers’ outputs can move along the reference trajectory generated by the leaders and maintain the desired time-varying formation. First, a distributed observer...

Abstract This paper concerns the problem of formation‐containment control for general‐linear multi‐agent systems (MASs) with both communication delays and switching interaction topologies. On the one hand, the leaders can communicate with each other to form the desired formation and on the other, the followers need to enter the convex envelope span...

Distributed adaptive cooperative time-varying formation tracking guidance problems of multiple aerial vehicles system against a maneuvering target are investigated. Different from the former results, the proposed cooperative guidance strategies are based on distributed time-varying formation tracking theories. Firstly, the leader aerial vehicle is...

Predefined finite-time output containment control problem for nonlinear multi-agent systems with multiple dynamical leaders under directed topology is investigated, where the outputs of followers can converge to the predefined convex hull formed by the multiple leaders within a finite time, and the leaders can have unknown control inputs. Firstly,...

Cooperative interception of the target with strong maneuverability by multiple missiles with weak maneuverability in the three-dimensional nonlinear model is studied. Firstly, the three-dimensional nonlinear model of cooperative guidance is established. The three-dimensional reachable region is represented composed of lateral acceleration and longi...

In this paper, the cooperative interception of multiple inferior missiles with acceleration constraints to intercept a highly maneuvering target is studied using the nonlinear interception geometry. Firstly, based on the establishment of the reachable region of the missile, the feasible region of the missile, and the escape region of the target, a...

Cooperative guidance strategy for multiple hypersonic gliding vehicles system with flight constraints and cooperative constraints is investigated. This paper mainly cares about the coordination of the entry glide flight phase and driving-down phase. Different from the existing results, both the attack time and the attack angle constraints are consi...

Fully adaptive practical time-varying output formation tracking issues of high-order nonlinear stochastic multiagent systems with multiple leaders are researched, where the adaptive fuzzy-logic system (FLS) is introduced for estimating the mismatched integrated uncertain items. Distinctive with former results, stochastic noise is considered in the...

Practical formation‐containment tracking issues for the multiple autonomous surface vessels system with multiple leader vessels are considered. The follower vessels' states are designed to track the convex combination of the leader vessels' states, which are required to actualise the predefined time‐varying formation tracking. Firstly, this study e...

Distributed cooperative encirclement hunting guidance strategy design and analysis issues for multiple flight vehicles system against a maneuvering target are considered in this paper. Distinct from the former results, the cooperative encirclement hunting guidance laws are based on the leader-follower coordination structure, and are divided into tw...

Practical time-varying output formation tracking (PTVOFT) analysis and design task of high-order nonlinear strict-feedback multi-agent systems (MASs) containing control saturation is processed, in which PTVOF error is confined to a narrow range. Distinct with former achievements, agents' model characteristics are high-order nonlinear strict-feedbac...

Cooperative integrated practical time-varying formation tracking and control issues of multiple missiles system with multiple leader missiles and mismatched uncertainties are considered. The follower missiles' states are designed to track the convex combination of the leader missiles' ones while actualizing a predefined time-varying formation. Firs...

Robust H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> guaranteed cost time-varying formation tracking problems for high-order multiagent systems with external disturbances and time-varying delays are considered. It is required that the followers' states need to track the leader's state and t...

Time-varying formation analysis and design problems for general linear multi-agent systems with switching interaction topologies and time-varying delays are studied. Firstly, a consensus-based formation control protocol is constructed using local information of the neighboring agents. An algorithm with three steps is presented to design the propose...

Practical time-varying formation tracking problems for second-order nonlinear multiagent systems with multiple leaders are investigated using adaptive neural networks (NNs), where the time-varying formation tracking error caused by time-varying external disturbances can be arbitrarily small. Different from the previous work, there exists a predefin...

Practical time-varying formation tracking analysis and design problems for multiple non-holonomic mobile robot systems with directed interaction topologies are investigated by using the distributed extended state observers, where the practical time-varying formation tracking error is controlled within an arbitrary small bound. Different from the pr...

Practical time‐varying formation tracking analysis and design problems for high‐order nonlinear multiagent systems with directed interaction topologies are investigated by using the distributed disturbance observer, where the time‐varying formation tracking error can be controlled within an arbitrarily small bound. Different from the previous work,...

Practical time-varying formation tracking analysis and design problems for high-order nonlinear multi-agent systems are investigated, where the time-varying formation tracking error is controlled within an arbitrarily small bound. The states of followers form a predefined time-varying formation while tracking the state of the leader with unknown co...

Time-varying formation tracking problems for high-order multi-agent systems with switching topologies are investigated. Different from the previous work, the states of the followers form a predefined time-varying formation while tracking the state of the leader with bounded unknown control input. Besides, the communication topology can be switching...

A cooperative flight concept of two hypersonic entry vehicles is presented. The two vehicles are supposed to separate at a reasonable separation window, fly in different maneuvering trajectories, and reach the same terminal interface simultaneously. Firstly, the same longitudinal profile is planned for the two vehicles to satisfy the path and termi...

Semi-strapdown coordinator is located on the missile body. Because of the existence of the parasitic loop, the semi-strapdown coordinator stable tracking control loop is strongly coupled with the body attitude control loop. As a result, the stability and tracking performance of the coordinator is severely affected. To deal with the stability and tr...