Leaderless Maneuver Guidance and Event-Triggered Formation Control for Distributed Multi-Space-Robot Systems

Leaderless Maneuver Guidance and Event-Triggered Formation Control for Distributed Multi-Space-Robot Systems | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Leaderless Maneuver Guidance and Event-Triggered Formation Control for Distributed Multi-Space-Robot Systems Xuan Wang, Xing Chu, Yunhe Meng, Guoguang wen, Qian Jiang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-1144111/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 4 You are reading this latest preprint version Abstract In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered control update mechanisms. A distributed formation and leaderless maneuver guidance control framework is first constructed, which includes two parallel controllers, namely, an improved linear quadratic regulator and a distributed consensus-based formation controller. By applying this control framework, the desired formation configuration of multi-space-robot systems can be achieved and the center of leaderless formation can converge to the target point globally. Second, a pull-based event triggering mechanism is introduced to the distributed formation controller, which makes the control update independent of the events of neighboring robots, avoids unnecessary control updates, and saves the extremely limited energy of space robots. Furthermore, the potential Zeno behaviors have been excluded by proving a positive lower bound for the inter-event times. Finally, numerical simulation verifies the effectiveness of the theoretical results. Mechanical Engineering Ocean Engineering multi-space–robot systems formation stabilization maneuver guidance distributed control event-triggered mechanisms. Full Text Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 23 Dec, 2021 Reviewers invited by journal 23 Dec, 2021 Editor assigned by journal 11 Dec, 2021 First submitted to journal 05 Dec, 2021 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-1144111","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":72209887,"identity":"6ac43dfc-0d41-4c2e-9fff-834913a3d666","order_by":0,"name":"Xuan Wang","email":"","orcid":"","institution":"Yunnan University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Xuan","middleName":"","lastName":"Wang","suffix":""},{"id":72209888,"identity":"4640e08b-b24d-45af-a0e4-281d56c66696","order_by":1,"name":"Xing Chu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAqklEQVRIiWNgGAWjYDACCQbGBxBWAvFamA1I1sImQZoW/tk9ZtW8Ow4z8LPnGDD83EGMJXeOpd3mPXOYQbLnjQFj7xkitBhIJB+7zdt2mMHgRo4BM2MbUVoS24pBWuxJ0JJ8jBlsiwSxWiRupCVLzm1L55E486zgYC8xWvhn5Bh+eNtmLcffnrzxwU9itIAAEw8DAw+IcYBIDQwMjD+IVjoKRsEoGAUjEgAAEPQwrnff/LwAAAAASUVORK5CYII=","orcid":"https://orcid.org/0000-0001-8654-7178","institution":"Yunnan University","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Xing","middleName":"","lastName":"Chu","suffix":""},{"id":72209889,"identity":"cac11443-52ef-4203-8e04-7226ca3d3af0","order_by":2,"name":"Yunhe Meng","email":"","orcid":"","institution":"Sun Yat-Sen University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Yunhe","middleName":"","lastName":"Meng","suffix":""},{"id":72209890,"identity":"37af3e23-04be-4ad1-932b-66b5e7a6ffcf","order_by":3,"name":"Guoguang wen","email":"","orcid":"","institution":"Beijing Jiaotong University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Guoguang","middleName":"","lastName":"wen","suffix":""},{"id":72209891,"identity":"78186421-254a-4969-994a-40e38a4992f8","order_by":4,"name":"Qian Jiang","email":"","orcid":"","institution":"Yunnan University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Qian","middleName":"","lastName":"Jiang","suffix":""}],"badges":[],"createdAt":"2021-12-06 06:22:23","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-1144111/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-1144111/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":16837679,"identity":"5866cdf8-08a7-4dc7-ac86-5f23b12b0b95","added_by":"auto","created_at":"2021-12-29 16:10:04","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2384452,"visible":true,"origin":"","legend":"","description":"","filename":"NODYD2103136reviewer.pdf","url":"https://assets-eu.researchsquare.com/files/rs-1144111/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"Leaderless Maneuver Guidance and Event-Triggered Formation Control for Distributed Multi-Space-Robot Systems","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-1144111/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"multi-space–robot systems, formation stabilization, maneuver guidance, distributed control, event-triggered mechanisms.","lastPublishedDoi":"10.21203/rs.3.rs-1144111/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-1144111/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered control update mechanisms. 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