Formation control and collision avoidance for multi-agent systems based on position estimation

被引：88
|
作者：
Xia, Yuanqing [1 ]
Na, Xitai [1 ]
Sun, Zhongqi [1 ]
Chen, Jing [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
ISA TRANSACTIONS | 2016年 / 61卷
基金：
中国国家自然科学基金;
关键词：
Formation control; Second-order systems; Optimal control; Collision avoidance; CONSENSUS; OPTIMIZATION;
D O I：
10.1016/j.isatra.2015.12.010
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, formation control strategies based on position estimation for double-integrator systems are investigated. Firstly, an optimal control formation control strategy is derived based on the estimator. It is proven that the control inputs are able to drive the agents to the predefined formation and the controller is optimal even based on the estimation law if the estimator has converged to stable. Secondly, a consensus law based on the estimator is presented, which enables the agents converge to the formation in a cooperative manner. The stability can be guaranteed by proper parameters. Thirdly, extra control input for inter collision avoidance is added into the derived consensus control strategy, and efficacy analysis are provided in detail. Finally, the effectiveness of the strategies proposed are shown by simulation and experiment results. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：287 / 296
页数：10
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