Event-triggered formation control with obstacle avoidance for multi-agent systems applied to multi-UAV formation flying

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-10-16 DOI:10.1016/j.conengprac.2024.106105

Liang Han , Yue Wang , Ziwei Yan , Xiaoduo Li , Zhang Ren

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引用次数: 0

Abstract

This study investigates time-varying formation control with communication constraint for general discrete-time multi-agent systems (MASs), which aims to control a swarm of agents to maintain a desired formation while avoiding obstacles in the scenario with spatial constraint. The event-triggered mechanism is introduced to effectively reduce the system communication frequency and an artificial potential field function is incorporated into the proposed controller to achieve obstacle avoidance in formation. The obtained results are applied to solve obstacle avoidance problems for multiple unmanned aerial vehicles (UAVs) in formation flight. Physical simulations are completed with four UAV models on a 3-D visualization simulation platform integrated by Robot Operating System (ROS) and Gazebo. Then, practical experiments are carried out with four quadrotors in a complex experimental scenario combined with the motion capture system. The physical simulation and practical experiments are implemented to verify the effectiveness of the theoretical results.

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应用于多无人机编队飞行的具有避障功能的多代理系统事件触发编队控制

本研究探讨了一般离散时间多代理系统（MASs）具有通信约束的时变编队控制，旨在控制代理群在具有空间约束的场景中保持理想编队，同时避开障碍物。引入事件触发机制以有效降低系统通信频率，并将人工势场函数纳入所提出的控制器以实现编队避障。所获得的结果被应用于解决编队飞行中多个无人飞行器（UAV）的避障问题。在由机器人操作系统（ROS）和 Gazebo 集成的三维可视化仿真平台上完成了四种无人飞行器模型的物理仿真。然后，结合动作捕捉系统，在复杂的实验场景中使用四架四旋翼飞行器进行了实际实验。物理仿真和实际实验的实施验证了理论结果的有效性。

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

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.