Active disturbance rejection based formation tracking and collision avoidance control for second-order multi-agent system

In target tracking task for multi-agent formation, the agent will lose the target when it is blocked by obstacles in the environment and external disturbances can affect the time-varying formation tracking control for multi-agent systems. This paper studies the time-varying formation tracking and collision avoidance control for second-order multi-agent systems under the simultaneous existence of these two factors. A switching topology control strategy based on target tracking priority is adopted to achieve continuous tracking of the target in the obstacle occlusion environment. A formation tracking controller including the disturbance compensation term is designed based on active disturbance rejection theory. First, an active disturbance rejection time-varying formation target tracking control protocol is proposed for multi-agent systems with switching topologies based on consensus methods, and a formation command generation method based on tracking differentiator is presented. Then, an algorithm is designed to determine the control coefficient matrix, and the stability of the system under the protocol is analyzed and proved. Moreover, a collision avoidance control protocol is designed based on artificial potential field method. Finally, the active disturbance rejection time-varying formation target tracking and collision avoidance control protocol is proposed considering the occlusion of target tracking by obstacles in the environment. The simulation results show that the control protocol designed in this paper still has good control effect when the above two factors exist. © 2020, Editorial Board of JBUAA. All right reserved.