Finite-time formation control and obstacle avoidance of multi-agent system with application
Finite-time formation control and obstacle avoidance of multi-agent system with application
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DOI：
10.1002/rnc.5641
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发表时间：
2021-06-15
影响因子：
3.9
通讯作者：
Mei, Tao
中科院分区：
文献类型：
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作者：
Shou, Yingxin;Xu, Bin;Mei, Tao
研究了具有避障功能的多智能体系统的有限时间编队跟踪控制问题。对于编队过程中的碰撞和避障问题，采用人工势场作为编队规划设计，采用虚拟结构提高编队的组织能力。轨迹跟踪控制遵循反推方案，并在控制设计中发展了有限时间技术。考虑到智能体系统的动态不确定性，采用神经网络进行估计，并建立了基于预测误差的自适应律，以实现精确的估计性能。此外，预定义的性能函数被嵌入以满足输出约束。保证了系统误差信号的一致最终有界性和MAS的有限时间收敛性。仿真结果表明，所设计的编队轨迹跟踪控制器能够实现多自主水下机器人系统的高精度避障跟踪和编队性能。
The finite-time formation tracking control is investigated for a multi-agent system (MAS) with obstacle avoidance. For the collision and obstacle avoidance problem in the formation process, the artificial potential field is used as the formation planning design, and the virtual structure is adopted to improve the organizational ability of the formation. The trajectory tracking control follows the back-stepping scheme, and the finite-time technique is developed in the control design. Considering the dynamics uncertainty of the agent system, a neural network is applied for estimating and the prediction error-based adaptive law is established to achieve the precise estimation performance. Moreover, the predefined performance function is embedded to satisfy the output constraint. The uniformly ultimate boundedness of the system error signals and the finite-time convergence of the MAS are guaranteed. The simulation study is performed to validate the proposed control for multiple autonomous underwater vehicles system, while the results manifest that the obstacle avoidance with high-precision tracking and formation performance will be achieved under the formation trajectory tracking controller.