Abstract
In this article, the formation control problem has been considered for second-order multi-agent system with time delay. The involved controller is divided into two parts. The first part is to design the leader-following and adaptive control strategies that are utilized to achieve the specified formation shape. Based on a potential field function, the second part is applied to realizing the collision avoidance of the agents communicating with each other. By using the Lyapunov theory, some sufficient criteria are derived to ensure the specified formation shape of all agents and collision avoidance of any pair of agents. The derived criteria are formulated in terms of algebraic conditions, in which the control gains play an important role. Finally, a numerical simulation is given to illustrate the effectiveness of the derived results.
Highlights
As a striking way to apply dynamics of autonomous agents in practical problems, distributed formation control strategies of multi-agent systems have been considered in many related fields over the past decades [1]–[7]
Several kinds of artificial potential fields have been considered to deal with the collision avoidance or flocking behaviors of multiagent systems in [6], [25], [32]
The contributions of this article are summarized as follows: 1) Compared with the usual formation control problems in [3], [4], [10], a mathematical framework of formation control and collision avoidance in second-order multi-agent systems with time delay is constructed, in which both the radius of the avoidance region and the detection region are considered for ensuring collision avoidance and connectivity preservation in a unify potential field function
Summary
As a striking way to apply dynamics of autonomous agents in practical problems, distributed formation control strategies of multi-agent systems have been considered in many related fields over the past decades [1]–[7]. It is important to consider the leader-following formation control and collision avoidance of multi-agent systems with time delay, there are still some difficulties and challenges which remain to be investigated. Based on the Lyapunov theory, two sufficient criteria are derived to ensure leader-following formation control and collision avoidance of second-order multi-agent systems with time delay. The contributions of this article are summarized as follows: 1) Compared with the usual formation control problems in [3], [4], [10], a mathematical framework of formation control and collision avoidance in second-order multi-agent systems with time delay is constructed, in which both the radius of the avoidance region and the detection region are considered for ensuring collision avoidance and connectivity preservation in a unify potential field function.
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