Fractional Order Formation Control of a Set of Autonomous Underwater Vehicles
CoI: Dr. Sami El-Ferik, Dr. Ahmed Eltayeb
Formation control of multi-agent systems (MAS) is a key area in control theory and robotics, aimed at coordinating multiple agents (robots, UAVs, vehicles, etc.) to maintain a desired formation while achieving collective tasks. Such complex systems require advanced control design to ensure stability, robustness, obstacle avoidance, and effective coordination among agents. This research focuses on a fractional-order control approach such as fractional-order PID and fractional-order sliding mode control (SMC) to overcome the challenges of MAS formation control, including handling nonlinearities, uncertainties, and dynamic interactions among agents. The MATLAB and Simulink platforms will be used to evaluate the performance of the proposed controllers. The performance evaluation will focus on improving trajectory tracking, increasing robustness against model uncertainties, and providing better disturbance rejection.
