Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader
In this paper, the problem of time-varying formation tracking control, with collision avoidance (CA) and connectivity preservation (CP), is studied for second-order multi-agent systems. Consider the unknown control input of virtual leader, an estimator is introduced to design a distributed time-vary...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9729698/ |
| _version_ | 1818284338504007680 |
|---|---|
| author | Ruimin Zhou Wenqian Ji Qingzheng Xu Wenjie Si |
| author_facet | Ruimin Zhou Wenqian Ji Qingzheng Xu Wenjie Si |
| author_sort | Ruimin Zhou |
| collection | DOAJ |
| description | In this paper, the problem of time-varying formation tracking control, with collision avoidance (CA) and connectivity preservation (CP), is studied for second-order multi-agent systems. Consider the unknown control input of virtual leader, an estimator is introduced to design a distributed time-varying formation tracking control protocol, while relaxing the condition the leader’s velocity is constant. Different from some existing results, relative velocity-based action function is designed such that both CA and CP with small negative effects on formation are achieved, and a simpler method is proposed to eliminate the large jump and discontinuity of potential field force. Furthermore, the Lyapunov-like approach is used for the stability analysis and the theoretical results are derived. Accordingly, it is demonstrated that velocity tracking errors can asymptotically converge to 0, and steady-state position tracking errors are bounded and related to initial state. Finally, two simulation examples verify the effectiveness of theoretical results. |
| first_indexed | 2024-12-13T00:51:13Z |
| format | Article |
| id | doaj.art-74e184a692e041b99afcccaf751a3c7e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T00:51:13Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-74e184a692e041b99afcccaf751a3c7e2022-12-22T00:04:54ZengIEEEIEEE Access2169-35362022-01-0110317143172210.1109/ACCESS.2022.31573009729698Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic LeaderRuimin Zhou0Wenqian Ji1Qingzheng Xu2https://orcid.org/0000-0001-9130-9692Wenjie Si3College of Information Engineering, Pingdingshan University, Pingdingshan, ChinaCollege of Information Engineering, Pingdingshan University, Pingdingshan, ChinaFaculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo, ChinaSchool of Electrical and Control Engineering, Henan University of Urban Construction, Pingdingshan, ChinaIn this paper, the problem of time-varying formation tracking control, with collision avoidance (CA) and connectivity preservation (CP), is studied for second-order multi-agent systems. Consider the unknown control input of virtual leader, an estimator is introduced to design a distributed time-varying formation tracking control protocol, while relaxing the condition the leader’s velocity is constant. Different from some existing results, relative velocity-based action function is designed such that both CA and CP with small negative effects on formation are achieved, and a simpler method is proposed to eliminate the large jump and discontinuity of potential field force. Furthermore, the Lyapunov-like approach is used for the stability analysis and the theoretical results are derived. Accordingly, it is demonstrated that velocity tracking errors can asymptotically converge to 0, and steady-state position tracking errors are bounded and related to initial state. Finally, two simulation examples verify the effectiveness of theoretical results.https://ieeexplore.ieee.org/document/9729698/Multi-agent systemscollision avoidanceconnectivity preservationtime-varying formation |
| spellingShingle | Ruimin Zhou Wenqian Ji Qingzheng Xu Wenjie Si Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader IEEE Access Multi-agent systems collision avoidance connectivity preservation time-varying formation |
| title | Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader |
| title_full | Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader |
| title_fullStr | Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader |
| title_full_unstemmed | Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader |
| title_short | Collision Avoidance and Connectivity Preservation for Time-Varying Formation of Second-Order Multi-Agent Systems With a Dynamic Leader |
| title_sort | collision avoidance and connectivity preservation for time varying formation of second order multi agent systems with a dynamic leader |
| topic | Multi-agent systems collision avoidance connectivity preservation time-varying formation |
| url | https://ieeexplore.ieee.org/document/9729698/ |
| work_keys_str_mv | AT ruiminzhou collisionavoidanceandconnectivitypreservationfortimevaryingformationofsecondordermultiagentsystemswithadynamicleader AT wenqianji collisionavoidanceandconnectivitypreservationfortimevaryingformationofsecondordermultiagentsystemswithadynamicleader AT qingzhengxu collisionavoidanceandconnectivitypreservationfortimevaryingformationofsecondordermultiagentsystemswithadynamicleader AT wenjiesi collisionavoidanceandconnectivitypreservationfortimevaryingformationofsecondordermultiagentsystemswithadynamicleader |