![](/images/graphics-bg.png)
A Distributed Formation Control Scheme with Obstacle Avoidance for Multiagent Systems
المؤلفون المشاركون
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2019، العدد 2019 (31 ديسمبر/كانون الأول 2019)، ص ص. 1-16، 16ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2019-06-23
دولة النشر
مصر
عدد الصفحات
16
التخصصات الرئيسية
الملخص EN
This study considers the problem of formation control for second-order multiagent systems.
We propose a distributed nonlinear formation controller where the control input of each follower can be expressed as a product of a nonlinear term that relies on the distance errors under the leader–follower structure.
In the leader–follower structure, a small number of agents are assumed to be the leaders, and they are responsible for steering a group of agents to the specific destination, while the rest of the agents are called followers.
The stability of the proposed control laws is demonstrated by utilizing the Lyapunov function candidate.
To solve the obstacle avoidance problem, the artificial potential approach is employed, and the agents can avoid each possible obstacle successfully without getting stuck in any local minimum point.
The control problem of multiagent systems in the presence of unknown constant disturbances is also considered.
To attenuate such disturbances, the integral term is introduced, and the static error is eliminated through the proposed PI controller, which makes the system stable; the adaptive controller is designed to reduce the effect of time-varying disturbances.
Finally, numerical simulation results are presented to support the obtained theoretical results.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Yang, Xiaowu& Fan, Xiaoping. 2019. A Distributed Formation Control Scheme with Obstacle Avoidance for Multiagent Systems. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1195109
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Yang, Xiaowu& Fan, Xiaoping. A Distributed Formation Control Scheme with Obstacle Avoidance for Multiagent Systems. Mathematical Problems in Engineering No. 2019 (2019), pp.1-16.
https://search.emarefa.net/detail/BIM-1195109
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Yang, Xiaowu& Fan, Xiaoping. A Distributed Formation Control Scheme with Obstacle Avoidance for Multiagent Systems. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1195109
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1195109
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
![](/images/ebook-kashef.png)
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
![](/images/kashef-image.png)