Multi-agent consensus algorithm with obstacle avoidance via optimal control approach

被引：36
作者：
Wang, Jianan [1 ]
Xin, Ming [1 ]
机构：
[1] Mississippi State Univ, Dept Aerosp Engn, Mississippi State, MS 39762 USA
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2010年 / 83卷 / 12期
基金：
美国国家科学基金会;
关键词：
multi-agent; cooperative control; consensus; obstacle avoidance; optimal control; COOPERATIVE CONTROL; COORDINATION; SYSTEMS;
D O I：
10.1080/00207179.2010.535174
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Multi-agent consensus problem in an obstacle-laden environment is addressed in this study. A novel optimal control approach is proposed for the multi-agent system to reach consensus as well as avoid obstacles with a reasonable control effort. An innovative nonquadratic penalty function is constructed to achieve obstacle avoidance capability from an inverse optimal control perspective. The asymptotic stability and optimality of the consensus algorithm are proven. In addition, the optimal control law only requires local information from the communication topology to guarantee the proposed behaviour, rather than all agents' information. The consensus and obstacle avoidance are validated through various simulations.
引用
收藏
页码：2606 / 2621
页数：16
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