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.
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页数：13
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