Fuzzy Adaptive Group Obstacle Avoidance Control for Second-Order Multi-Agent Systems Under Fixed and Switching Topologies

Abstract

This paper investigates the multi-group formation obstacle avoidance control problem of second-order nonlinear leader-follower multi-agent systems (MASs) with unknown nonlinear function and uncertain input disturbance. To make multi-group MASs achieve global consensus, a distributed global fuzzy adaptive control method is presented. Then, navigation functions are employed to make agents bypass obstacles and reach the target positions. The adaptive method is applied to adjust parameters online which can substantially reduce computation burdens and make trajectories of agents smooth. Without loss of generality, both fixed and switching interaction topologies are all taken into account. After that, through Lyapunov stability theory and algebraic graph theory, the feasibility of the method proposed in this paper has been proved. Finally, simulation examples are given to validate the effectiveness of the method proposed in this paper.