CASIA OpenIR
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
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2019-09-01
Volume62Issue:9Pages:14
Corresponding AuthorWen, Guoxing(wengx_sd@hotmail.com)
AbstractThis 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.
Keywordformation control obstacle avoidance artificial potential field method H-infinity performance second-order multi-agent system directed topology
DOI10.1007/s11432-018-9759-9
WOS KeywordFOLLOWER FORMATION CONTROL ; CONSENSUS CONTROL ; MOBILE ROBOTS
Indexed BySCI
Language英语
Funding ProjectShandong 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
Funding OrganizationShandong 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 Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000478004600002
PublisherSCIENCE PRESS
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/27800
Collection中国科学院自动化研究所
Corresponding AuthorWen, Guoxing
Affiliation1.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
Recommended Citation
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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