Xiwang Dong

Beihang University (BUAA) | BUAA · School of Automation Science and Electrical Engineering

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...

A distributed cyber‐security and fault tolerance formation problem is considered in this paper. This is done though a multi‐agent system in which all agents concentrate on a formation reference function and accomplish a desired time‐varying formation even in the presence of malicious attacks and multiple faults. To achieve the resilient control tas...

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...

This paper investigates the robust $H_{\infty }$ fault-tolerant output time-varying formation tracking (TVFT) problem for heterogeneous nonlinear multi-agent system, whose object is that the outputs of followers need to track leader's output and achieve the desired formation under the influences of actuator faults and external disturbances. In or...

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...

In UAV path planning tasks, classical algorithms can only solve the tasks where environment is knowable and can be changed into mathematical model. For the tasks with unknown environment information is difficult to solve. However, such tasks can be easily solved by human. In this paper, we first bulid a UAV path planning environment and train the a...

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...

The finite-time output time-varying formation tracking (TVFT) problem for heterogeneous nonlinear multiagent system (MAS) is investigated in this article, where the dynamics of the agents can be nonidentical, and leader’s input is unknown. The target of this article is that the outputs of followers need to track leader’s output and realize the desi...

In this article, time-varying group formation (TVGF) tracking problems for general linear multiagent systems (GLMASs) with switching interaction topologies are investigated. Different from previous studies, a novel TVGF tracking approach is proposed, where all agents are divided into three types: the virtual leader, the group leader, and the follow...

To address the data security issue of distributed state estimation, this paper proposes a novel consensus-based cubature information filtering algorithm for sensitive nonlinear target tracking under restricted communication. Through a privacy-preserving approach via state decomposition, the algorithm can protect the privacy of local information fro...

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...

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...

This literature investigate the dynamic formation tracking problem of multiple Lagrange systems with linear nonautonomous leader over directed topology. In order to estimate the leader system, a distributed control scheme is proposed firstly by constructing adaptive distributed observer. Secondly, this paper design a nonlinear function to decrease...

In this paper, the resilient time-varying formation control for second-order discrete-time multi-agent systems (DMASs) under communication link attacks and actuator faults is investigated. The number or proportion of edge attacks around each agent, including deception attacks and denial-of-service (DOS) attacks, is bounded. A discrete-time distribu...

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 practical output containment problem for heterogeneous nonlinear multiagent systems under external disturbances generated by an exosystem is investigated in this article. It is required that the outputs of followers converge to the predefined convex combination of leaders' outputs. One of the major challenges in solving such a problem lies in d...

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...

Task coupling based layered cooperative guidance design and analysis issues for multiple missiles system are investigated. First, to deal with cooperative guidance problems with multiple task requirements, a task coupling based layered cooperative guidance structure is constructed by the leader layer and the follower layer. Then, for the leader mis...

Abstract This paper focuses on the design and simulation of an integrated reconfigurable control strategy for networked multi‐agent systems. The control task is to remain the desired time‐varying formation in the presence of actuator faults, and to well address the pairing between fault estimation and reconfigurable formation control. A decentraliz...

The distributed formation tracking control problem with multiple leaders under actuator faults and constraints is investigated in this article. All followers in the multiagent system should achieve a desired time-varying formation and track the convex combination of multiple leaders. To accomplish the control task, an active reconfigurable control...

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...

Time-varying group formation tracking problems for general linear multi-agent systems with unknown control input and switching topologies are studied. There are two kinds of agents, leaders and followers. Leaders with unknown control input can generate unpredictable and maneuverable trajectories. Followers accomplish macroscopic moving guided by si...

Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader’s unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It’s proved by Lyapunov stability the...

In this brief, the time-varying output formation tracking (TVOFT) problem for directed multi-agent systems is studied, where the leader has unknown input and each follower has nonidentical dynamics. The main object of this brief is to construct fully distributed controller so that the outputs of followers track the leader’s output and realize the e...

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 proposes a sensor network information fusion based distributed state estimation algorithm for tracking non-cooperative maneuvering target. In order to lower the communication burden and energy consumption, an event-triggered mechanism is introduced. The distributed state estimation algorithm for maneuvering target tracking is designed by...

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...

This paper is concerned with a scenario of multiple attackers trying to intercept a target with active defense. Three types of agents are considered in the guidance: The multiple attackers, the target and the defender, where the attackers aim to pursuit the target from different directions and evade from the defender simultaneously. The guidance en...

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,...

Adaptive formation tracking problems for swarm systems with multiple leaders and switching topologies are studied in this paper. It is required that the followers form time-varying formations and track the positions of the leaders simultaneously, where the bio-inspired adaptive formation tracking control method is originated from the grey wolves wi...