Fast finite-time formation control with obstacle avoidance of second-order multi-agent systems with input saturation

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control Pub Date : 2024-05-13 DOI:10.1016/j.ejcon.2024.101002

Jinxin Du, Jie Lan, Yan-Jun Liu, Han Qian Hou, Lei Liu

引用次数: 0

Abstract

This paper proposes a leader–follower formation control protocol using fast finite-time (FFT) theory, based on second-order nonlinear multi-agent systems (MASs) with input saturation constraints. The artificial potential field method is addressed to implement the formation control with obstacle avoidance of the MASs. An adaptive FFT strategy is constructed that all the agents follow required formation performance. Neural networks are considered to approximate uncertain functions, which improved convergence and ensuring safety of distributed formation control. Finally, the validity of the theoretical approach is demonstrated by FFT stability theory validated by simulation examples.

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具有输入饱和度的二阶多代理系统的快速有限时编队控制与避障

本文基于具有输入饱和约束的二阶非线性多代理系统（MAS），利用快速有限时间（FFT）理论提出了一种领导者-追随者编队控制协议。人工势场方法用于实现具有避障功能的 MAS 编队控制。构建了一种自适应 FFT 策略，使所有代理都遵循所需的编队性能。考虑用神经网络来逼近不确定函数，从而提高了收敛性，确保了分布式编队控制的安全性。最后，通过模拟实例验证了 FFT 稳定性理论，从而证明了理论方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

European Journal of Control 工程技术-自动化与控制系统

CiteScore

5.80

自引率

5.90%

发文量

131

审稿时长

1 months

期刊介绍： The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field. The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering. The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications. Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results. The design and implementation of a successful control system requires the use of a range of techniques: Modelling Robustness Analysis Identification Optimization Control Law Design Numerical analysis Fault Detection, and so on.