基于Barrier Lyapunov函数的多智能体系统编队控制与避障

2018 Eighth International Conference on Information Science and Technology (ICIST) Pub Date : 2018-06-01 DOI:10.1109/ICIST.2018.8426094

Jie Lian, Yangrui Meng, Li-li Li

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引用次数: 3

摘要

研究了多智能体避障系统的编队控制问题。提出了一种具有有界约束的控制协议，并在此协议中引入了指数衰减项。基于barrier Lyapunov函数方法给出了算法的收敛性。此外，所提出的控制协议可以使智能体保持在与其相邻智能体的通信区域内，同时避免在其移动区域内设置障碍物。仿真结果验证了所提控制律的有效性。

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Formation Control and Obstacle Avoidance for Multi-Agent Systems Using Barrier Lyapunov Functions

This paper focuses on formation control of multiagent systems with obstacle avoidance. A control protocol with bounded constraints is proposed to achieve the prescribed formation, where an exponential decay term is introduced. The convergence of the proposed algorithm is presented based on the barrier Lyapunov function method. In addition, the proposed control protocol can keep agents remaining in communication area with neighbour agents while avoiding obstacles settled in their moving area. Simulations are provided to illustrate the effectiveness of the proposed control law.

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2018 Eighth International Conference on Information Science and Technology (ICIST)

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