Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology

doi:10.1007/s11432-018-9759-9

	Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology
	Wen, Guoxing 1,2; Chen, C. L. Philip 2,4,5; Dou, Hui 1; Yang, Hongli 3; Liu, Chunfang 1
刊名	SCIENCE CHINA-INFORMATION SCIENCES
	2019-09-01
卷号	62 期号:9 页码:14
关键词	formation control obstacle avoidance artificial potential field method H-infinity performance second-order multi-agent system directed topology
ISSN号	1674-733X
DOI	10.1007/s11432-018-9759-9
通讯作者	Wen, Guoxing(wengx_sd@hotmail.com)
英文摘要	This paper addresses the obstacle avoidance problem of formation control for the multi-agent systems modeled by double integrator dynamics under a directed interconnection topology. The control task is finished by a leader-follower formation scheme combined with an artificial potential field (APF) method. The leader-follower scheme is carried out by taking the desired trajectory with the desired velocity as virtual leader, while the APF method is carried out by dealing with the obstacles as the high potential points. When the obstacle avoidance tasks are finished, the artificial potential forces degrade the formation performance, so their undesired effects are treated as disturbances, which is analyzed by the robust H-infinity performance. Based on Lyapunov stability theory, it is proved that the proposed formation approach can realize the control objective. The result is also extended to the switching multi-agent formation. The effectiveness of the proposed formation scheme is further confirmed by simulation studies.
资助项目	Shandong Provincial Natural Science Foundation[ZR2018MF015] ; Shandong Provincial Natural Science Foundation[ZR2018MF023] ; National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61572540] ; Doctoral Scientific Research Staring Fund of Binzhou University[2016Y14] ; Shandong University of Science and Technology
WOS关键词	FOLLOWER FORMATION CONTROL ; CONSENSUS CONTROL ; MOBILE ROBOTS
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	SCIENCE PRESS
WOS记录号	WOS:000478004600002
资助机构	Shandong Provincial Natural Science Foundation ; National Natural Science Foundation of China ; Doctoral Scientific Research Staring Fund of Binzhou University ; Shandong University of Science and Technology
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27799]
专题	中国科学院自动化研究所
通讯作者	Wen, Guoxing
作者单位	1.Binzhou Univ, Coll Sci, Binzhou 256600, Peoples R China 2.Univ Macau, Dept Comp & Informat Sci, Fac Sci & Technol, Macau 999078, Peoples R China 3.Shandong Univ Sci & Technol, Math & Syst Sci Coll, Qingdao 266590, Shandong, Peoples R China 4.Dalian Maritime Univ, Coll Nav, Dalian 116026, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Wen, Guoxing,Chen, C. L. Philip,Dou, Hui,et al. Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology[J]. SCIENCE CHINA-INFORMATION SCIENCES,2019,62(9):14.
APA	Wen, Guoxing,Chen, C. L. Philip,Dou, Hui,Yang, Hongli,&Liu, Chunfang.(2019).Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology.SCIENCE CHINA-INFORMATION SCIENCES,62(9),14.
MLA	Wen, Guoxing,et al."Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology".SCIENCE CHINA-INFORMATION SCIENCES 62.9(2019):14.