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Consensus Formation Control and Obstacle Avoidance of Multiagent Systems with Directed Topology
Joint Authors
Liu, BingYou
Wang, Lichao
Li, Xing
Zhang, Zhengzheng
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-05-13
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This study addresses the problems of formation control and obstacle avoidance for a class of second-order multiagent systems with directed topology.
Formation and velocity control laws are designed to solve the formation tracking problem.
A new obstacle avoidance control law is also proposed to avoid obstacles.
Then, the consensus control protocol consists of the formation, velocity, and obstacle avoidance control laws.
The convergence of the proposed control protocol is analyzed by a redesigned Lyapunov function.
Finally, the effectiveness of theoretical results is illustrated by simulation examples.
The simulation results show that the formation tracking problem of the given multiagent systems can be realized and obstacles can be avoided under the proposed control protocol.
American Psychological Association (APA)
Wang, Lichao& Li, Xing& Liu, BingYou& Zhang, Zhengzheng. 2020. Consensus Formation Control and Obstacle Avoidance of Multiagent Systems with Directed Topology. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1193983
Modern Language Association (MLA)
Wang, Lichao…[et al.]. Consensus Formation Control and Obstacle Avoidance of Multiagent Systems with Directed Topology. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1193983
American Medical Association (AMA)
Wang, Lichao& Li, Xing& Liu, BingYou& Zhang, Zhengzheng. Consensus Formation Control and Obstacle Avoidance of Multiagent Systems with Directed Topology. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1193983
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1193983