Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay

被引：7
|
作者：
Kang, Hongbo [1 ,2 ]
Wang, Wenqing [2 ]
Yang, Chunjie [2 ,3 ]
Li, Zhen [2 ]
机构：
[1] Changan Univ, Inst Elect & Control Engn, Xian 710064, Peoples R China
[2] Xian Univ Posts & Telecommun, Sch Automat, Xian 710121, Peoples R China
[3] Xian Univ Technol, Sch Mech & Precis Instrument Engn, Xian 710048, Peoples R China
来源：
IEEE ACCESS | 2020年 / 8卷
基金：
中国国家自然科学基金;
关键词：
Collision avoidance; Delay effects; Multi-agent systems; Shape; Adaptive control; Delays; Laplace equations; Formation control; collision avoidance; multi-agent system; time delay; SPACECRAFT FORMATION; OBSTACLE AVOIDANCE; DYNAMICAL NETWORKS; TRACKING CONTROL; SYNCHRONIZATION; CONSENSUS; STABILITY;
D O I：
10.1109/ACCESS.2020.3012992
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the formation control problem has been considered for second-order multi-agent system with time delay. The involved controller is divided into two parts. The first part is to design the leader-following and adaptive control strategies that are utilized to achieve the specified formation shape. Based on a potential field function, the second part is applied to realizing the collision avoidance of the agents communicating with each other. By using the Lyapunov theory, some sufficient criteria are derived to ensure the specified formation shape of all agents and collision avoidance of any pair of agents. The derived criteria are formulated in terms of algebraic conditions, in which the control gains play an important role. Finally, a numerical simulation is given to illustrate the effectiveness of the derived results.
引用
收藏
页码：142571 / 142580
页数：10
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