Finite-time adaptive formation control for multi-agent systems with uncertainties under collision avoidance and connecti
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https://doi.org/10.1007/s11431-019-1528-4
Finite-time adaptive formation control for multi-agent systems with uncertainties under collision avoidance and connectivity maintenance HE XiaoYan1, WANG QingYun2* & HAO YuQing2 1 Department
of Statistics and Mathematics, Inner Mongolia University of Finance and Economics, Huhhot 010070, China; 2 Department of Dynamics and Control, Beihang University, Beijing 100191, China Received November 21, 2019 ; accepted January 13, 2020 ; published online July 23, 2020
In this paper, the problem of adaptive finite time formation control is investigated for double integrator multi-agent systems with uncertainties. Firstly, considering the multi-agent systems with uncertain dynamic reference and external bounded disturbance, a distributed adaptive estimator control algorithm is designed to realize formation tracking control in finite-time. It is important that the collision avoidance and maintaining connectivity of the multi-agent systems are realized by constructing an effective potential function based on distance constraints. On the other hand, the problem of formation production control for the double integrator systems is discussed with desired formation shape in finite-time. Achieving four control objectives is the main contributions in all the phases, including the estimation of uncertainties, collision avoidance, connectivity maintenance, and finite-time convergence. Finally, an application example of the formation production control is presented to verify accuracy of the proposed theoretical method. uncertain systems, finite-time formation control, potential function, collision avoidance, connectivity maintenance Citation:
He X Y, Wang Q Y, Hao Y Q. Finite-time adaptive formation control for multi-agent systems with uncertainties under collision avoidance and connectivity maintenance. Sci China Tech Sci, 2020, 63, https://doi.org/10.1007/s11431-019-1528-4
1 Introduction The formation control of multiple agents refers to information transmission and cooperative control between adjacent individuals through sensors in order to achieve the overall formation and state requirements, thus completing the specific tasks of obstacle avoidance, reconnaissance, search and so on [1–4]. In the process of task implementation, the distributed formation control can regulate its state according to the information of adjacent individuals, which can improve the performance of the system such as the flexibility, autonomy, reconfigurability and robustness [5]. In recent years, many control methods have been used to study formation control of spacecraft [6, 7], mobile robots [8], satellite [9], *Corresponding author (email: [email protected])
unmanned aerial vehicle [10] and so on. According to the group reference in the systems, the formation control problems consist of formation tracking with a group reference [11,12] and formation production without references [13,14]. Collision avoidance and maintaining connectivity are the basic requirements for realizing the
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