Abstract
In this paper, we investigate the robust formation control of nonlinear uncertain second-order multi-agent systems with guaranteed collision avoidance. A novel event-triggered control algorithm together with event-triggered mechanism is designed to significantly reduce the control updating and eliminate continuous communication between agents. The model uncertainties and external disturbances are estimated in finite time by the continuous robust integral of sign of the error (RISE)-based observer. Moreover, inter-agent collisions and obstacles are avoided through incorporating artificial potential function approach into the formation control scheme. Based on the Lyapunov method and graph theory, sufficient conditions on multi-agent formation stability, robustness against perturbations, collision avoidance, and Zeno behavior elimination are derived. The simulation results finally are given to validate the performance of our approach.
Highlights
Over the past decades, multi-agent formation control has been one of the activate and important problems in control community, due to its broad applications in mobile robots [1], [2], vessels [3], aerial vehicles [4]–[6], and spacecraft [7], [8]
REPULSIVE POTENTIAL FUNCTION This section introduces a continuous repulsive potential function, which will incorporate into the formation control algorithm to achieve collision avoidance
Example 1 (Two Dimensional Multi-Agent Formation Tracking Under Collision Avoidance): In this example, we consider a team of five second-order nonlinear agents moving in two dimensional workspace
Summary
Multi-agent formation control has been one of the activate and important problems in control community, due to its broad applications in mobile robots [1], [2], vessels [3], aerial vehicles [4]–[6], and spacecraft [7], [8]. Formation control aims to steer a team of agents to achieve a desired formation based on local information from their neighbors. Continuous communication between agents is far from realistic in some practical applications, especially when the communication networks have a bandwidth limitation, or the power of embedded batteries is limited [12]. Distributed eventtriggered controller was earlier studied by [13], which shows that event-triggered framework is suitable for a class of first order multi-agent cooperative control algorithms.
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