Transactions of Nanjing University of Aeronautics & Astronautics
Multi-agent Coordinated Control and Collision Avoidance with Unknown Disturbances
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Abstract:
The formation problem of multi-agent systems via coordinated control is investigated， where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution. In the real-world situation， the communication is often disturbed and inaccurate. Hence， the unknown disturbances are considered in the velocity measurements， which is assumed to be bounded and does not need to be modelled. Moreover， a complicated nonlinear interaction among agents is presented in the design of control. Based on the existing work of multi-agent systems， a flocking control protocol is proposed to address the formation problem in the dynamic topology. The stability analysis is given to prove that the velocities of all agents can converge to the velocity of leader and the stable motion with collision avoidance can be achieved eventually. Finally， some simulations are presented to verify the effectiveness of the proposed algorithm.
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This work was supported in part by the National Key Research and Development Program of China （No.2021ZD0112500） and the National Natural Scientific Foundation of China （No.12072128）.
Clc Number:
TP13
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