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This paper considers the containment control problem for uncertain QUAV (Quadrotor Unmanned Aerial Vehicle) multiagents with time-varying payloads under a fixed topology graph, and a distributed adaptive containment control protocol with multiple variable constraints is proposed. Generally, the control framework is classified into two layers. In the first layer, the desired trajectories are determined for followers by the communication topology and initial values of leaders. For the second layer, the ith QUAV follower is required to track the desired trajectory by employing the information of itself and neighbors. Under the second layer, the system of the ith agent is decoupled into two subsystems: the translational subsystem and the rotational subsystem. For the translational subsystem, the distributed adaptive containment controller is designed via dynamic surface control method to track the desired position trajectory. With such method, the information requirement of ith agent for its neighbors can be reduced significantly. For the rotational subsystem, the adaptive tracking controller is constructed to track the desired attitudes derived from translational subsystem through commonly used attitudes extraction algorithms. In the end, the resulting closed-loop system is proved to be stable in the sense of uniformly ultimate boundness, and the effectiveness of the proposed approach is illustrated by numerical simulations.
This article was published in the following journal.
Name: ISA transactions
To improve the concurrency of leaders' formation and followers' containment, a difficult problem of designing the formation controller and the containment controller simultaneously should be addressed...
This paper investigates the distributed containment control problem for a class of general second-order multiagent systems with switched dynamics, which is composed of a continuous-time (CT) subsystem...
This paper investigates the event-triggered adaptive output feedback control problem for a class of uncertain nonlinear systems in the presence of actuator failures and unknown control direction. By u...
In this paper, an adaptive neural network control for stochastic nonlinear systems with uncertain disturbances is proposed. The neural network is considered to approximate an uncertain function in a n...
This paper investigates the problem of adaptive fuzzy control on the basis of an event-triggered mechanism for nonlinear strict-feedback systems with time-varying external disturbances and virtual con...
The primary objective of this clinical trial is to determine if the Dynamic Socket and Sub-Ischial alternative interface designs improve socket comfort, residual limb health, increase func...
This study evaluates the impact of computerized inhibitory control training on attention-deficit hyperactivity disorder (ADHD) symptoms and ADHD-linked neural signatures in children with A...
This project will evaluate the neuro-cognitive outcomes of a novel, adaptive attention training in a healthy adolescent population.
The present study examines whether a computerized cognitive control training as compared to a placebo (fake) training will reduce the frequency of depressive rumination in depressed indivi...
This study aims to use a type of radiation (adaptive radiotherapy) to deliver curative-intent treatment to patients with non-small cell lung cancer, whose tumors would otherwise be too lar...
Provision of physical and biological barriers to the dissemination of potentially hazardous biologically active agents (bacteria, viruses, recombinant DNA, etc.). Physical containment involves the use of special equipment, facilities, and procedures to prevent the escape of the agent. Biological containment includes use of immune personnel and the selection of agents and hosts that will minimize the risk should the agent escape the containment facility.
The containment, regulation, or restraint of costs. Costs are said to be contained when the value of resources committed to an activity is not considered excessive. This determination is frequently subjective and dependent upon the specific geographic area of the activity being measured. (From Dictionary of Health Services Management, 2d ed)
Enzymes that catalyze the hydrolysis of CYCLIC AMP to form adenosine 5'-phosphate. The enzymes are widely distributed in animal tissue and control the level of intracellular cyclic AMP. Many specific enzymes classified under this heading demonstrate additional spcificity for 3',5'-cyclic IMP and CYCLIC GMP.
Termination of all transmission of infection by global extermination of the infectious agent through surveillance and containment (From Porta, A Dictionary of Epidemiology, 5th ed).
A genus of gram-negative bacteria of the family MORAXELLACEAE, found in soil and water and of uncertain pathogenicity.