Abstract
This study addresses the problems of formation control and obstacle avoidance for a class of second-order multiagent systems with directed topology. Formation and velocity control laws are designed to solve the formation tracking problem. A new obstacle avoidance control law is also proposed to avoid obstacles. Then, the consensus control protocol consists of the formation, velocity, and obstacle avoidance control laws. The convergence of the proposed control protocol is analyzed by a redesigned Lyapunov function. Finally, the effectiveness of theoretical results is illustrated by simulation examples. The simulation results show that the formation tracking problem of the given multiagent systems can be realized and obstacles can be avoided under the proposed control protocol.
Highlights
In [21], the formation tracking problem with distributed observer was addressed, in which the distributed formation tracking control protocol was constructed. e control protocol with communication time-varying delay was presented in [22]
The consensus control protocols for the multiagent systems were proposed to solve the problem of collision avoidance [25,26,27]
Inspired by the abovementioned facts, this study investigates the formation control and obstacle avoidance for a class of second-order multiagent systems with directed topology. e main contributions of this work are as follows: (i) the formation control law and velocity control law are designed to solve the formation tracking problem of given multiagent systems with directed topology
Summary
D diagd1, . . . , dn with di j∈Niaij. e graph G is connected if there exists a path between any two vertices. E graph G is connected if there exists a path between any two vertices. The multiagent systems with n agents are considered. The exchange information among agents can be modeled as the directed graph n with n nodes. According to the related knowledge of the graph theory G, we can theoretically analyze the control problem of multiagent systems. In order to achieve the desired formation shape, the distance between agents should be set. In this paper, let the matrix h is defined as the desired formation shape of given multiagent systems. Hin]T with hij being the desired distance between agent i and agent j The matrix h [h1, . . . , hn] and hi [hi1, . . . , hin]T with hij being the desired distance between agent i and agent j
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