Multi-objective control for multi-agent systems using Lyapunov-like barrier functions
Multi-objective control for multi-agent systems using Lyapunov-like barrier functions
复制标题
使用类 Lyapunov 屏障函数的多智能体系统的多目标控制
DOI：
10.1109/cdc.2013.6760091
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
["Dimitra Panagou
中科院分区：
文献类型：
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作者：
["Dimitra Panagou
本文解决了多目标下的多智能体协调和控制问题，并提出了一种适用于基于李亚普诺夫的分析和控制设计的集合论公式。引入了一类新颖的类李雅普诺夫势垒函数，并用于编码多个重要的控制目标，例如避免碰撞、邻近维持和收敛到所需目的地。该构造基于中心化势垒函数和近似函数的概念。单个类似李亚普诺夫的函数对每个智能体的约束集进行编码，产生简单的封闭式控制解决方案。所提出的结构还允许基于每个代理本地可用的信息进行分布式控制设计。这里考虑的场景涉及非完整车辆，而模拟结果证明了该方法的有效性。
This paper addresses the problem of multi-agent coordination and control under multiple objectives, and presents a set-theoretic formulation which is amenable to Lyapunov-based analysis and control design. A novel class of Lyapunov-like barrier functions is introduced and used to encode multiple, non-trivial control objectives, such as collision avoidance, proximity maintenance and convergence to desired destinations. The construction is based on the concept of recentered barrier functions and on approximation functions. A single Lyapunov-like function encodes the constrained set of each agent, yielding simple, closed-form control solutions. The proposed construction allows also for distributed control design based on information locally available to each agent. The scenario considered here involves nonholonomic vehicles, while simulation results demonstrate the efficacy of the approach.