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A Distributed Formation Control Scheme with Obstacle Avoidance for Multiagent Systems
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-06-23
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195109