Inverse optimal formation control of mobile agents with collision avoidance driven by Levy processes

被引：5

作者：

Do, K. D. ^{[1
]}

机构：

[1] Curtin Univ, Sch Civil & Mech Engn, Kent St, Bentley, WA 6102, Australia

来源：

IFAC JOURNAL OF SYSTEMS AND CONTROL | 2020年 / 13卷

基金：

澳大利亚研究理事会;

关键词：

Mobile agent; Formation control; Inverse optimality; Collision avoidance; Levy processes; STOCHASTIC NONLINEAR-SYSTEMS; STABILIZATION; FEEDBACK; OPTIMIZATION; TRACKING; DESIGN; ROBOTS; NOISE;

D O I：

10.1016/j.ifacsc.2020.100097

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper formulates and solves a new problem of formation control for a group of second-order dynamic mobile agents with collision avoidance driven by Levy processes with unknown characteristics. First, a new result on inverse optimal control design for nonlinear systems driven by Levy processes without having to solve a Hamilton-Jacobi-Bellman equation or a Hamilton-JaccobiIsaacs equation is developed. Second, the newly developed result together with the Lyapunov direct and backstepping methods, and potential functions will be then used to solve the posed inverse optimal formation control problem for the mobile agents with limited sensing ranges. (C) 2020 Elsevier Ltd. All rights reserved.

引用

页数：13

共 50 条

[21] Relative formation control of mobile agents for gradient climbing and target capturing
Do, K. D.
INTERNATIONAL JOURNAL OF CONTROL, 2011, 84 (06) : 1098 - 1114
[22] A Novel SMMS Teleoperation Control Framework for Multiple Mobile Agents With Obstacles Avoidance by Leader Selection
Huang, Fanghao
Chen, Xuanlin
Chen, Zheng
Pan, Ya-Jun
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (03): : 1517 - 1529
[23] Multiple Marine Vessels Formation Control with Collision Avoidance
Shi, Quan
Li, Tieshan
Li, Jingqi
Shan, Qihe
Cao, Yuchi
Fan, Xiaoqing
Tang, Shengrui
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 2178 - 2184
[24] A Hybrid Multiagent Collision Avoidance Method for Formation Control
Sui, Zezhi
Pu, Zhiqiang
Yi, Jianqiang
Xiong, Tianyi
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT IV, 2019, 11743 : 93 - 102
[25] Formation Control of UAVs for Connectivity Maintenance and Collision Avoidance
Mukherjee, Srijita
Namuduri, Kamesh
PROCEEDINGS OF THE 2019 IEEE NATIONAL AEROSPACE AND ELECTRONICS CONFERENCE (NAECON), 2019, : 126 - 130
[26] Event-triggered distributed robust optimal control of nonholonomic mobile agents with obstacle avoidance formation, input constraints and external disturbances
Le-Dung, Nguyen
Huynh-Lam, Phan
Hoang-Giap, Nguyen
Tan-Luy, Nguyen
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2023, 360 (08): : 5564 - 5587
[27] Stochastic Optimal Control for Collision Avoidance and Landing
Shimizu, Yuji
Tsuchiya, Takeshi
IFAC PAPERSONLINE, 2019, 52 (12): : 37 - 42
[28] Trajectory Tracking by Multiple Agents in Formation With Collision Avoidance and Connectivity Assurance
Mondal, Arindam
Bhowmick, Chandreyee
Behera, Laxmidhar
Jamshidi, Mo
IEEE SYSTEMS JOURNAL, 2018, 12 (03): : 2449 - 2460
[29] Inverse Optimal Design of the Distributed Consensus Protocol for Formation Control of Multiple Mobile Robots
Lee, Jae Young
Choi, Yoon Ho
Park, Jin Bae
2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2014, : 2222 - 2227
[30] Backstepping control design for stochastic systems driven by Levy processes
Do, K. D.
INTERNATIONAL JOURNAL OF CONTROL, 2022, 95 (01) : 68 - 80

← 1 2 3 4 5 →