Abstract
ABSTRACTThis paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of , with static obstacles. In particular, we propose a decentralised control protocol such that each agent reaches a predefined position at the workspace, while using local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
