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Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology
Wen, Guoxing1,2; Chen, C. L. Philip2,4,5; Dou, Hui1; Yang, Hongli3; Liu, Chunfang1
发表期刊SCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2019-09-01
卷号62期号:9页码:14
通讯作者Wen, Guoxing(wengx_sd@hotmail.com)
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.
关键词formation control obstacle avoidance artificial potential field method H-infinity performance second-order multi-agent system directed topology
DOI10.1007/s11432-018-9759-9
关键词[WOS]FOLLOWER FORMATION CONTROL ; CONSENSUS CONTROL ; MOBILE ROBOTS
收录类别SCI
语种英语
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 ; 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
项目资助者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
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Information Systems ; Engineering, Electrical & Electronic
WOS记录号WOS:000478004600002
出版者SCIENCE PRESS
引用统计
被引频次:43[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/27800
专题离退休人员
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.
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