Time-varying formation prescribed performance control with collision avoidance for multi-agent systems subject to mismatched disturbances

Zheng，Chang Bing1,2; Pang，Zhong Hua2; Wang，Jing Xu2; Gao，Shengnan2; Sun，Jian3,4; Liu，Guo Ping5

2023-07-01

10.1016/j.ins.2023.03.091

INFORMATION SCIENCES   影响因子和分区

0020-0255

1872-6291

The time-varying formation problem is addressed for second-order multi-agent systems with matched and mismatched disturbances. A time-varying formation prescribed performance control method is presented with improved collision avoidance and connectivity maintenance scheme. Specifically, more accurate judgment mechanisms of collision risks and connectivity interruption risks are proposed to reduce conservatism of the existing results, by making use of the velocity information and analyzing the maneuvering process of agents. Then, a nonlinear disturbance observer is adopted to estimate those disturbances, and an adaptive prescribed performance controller based on a novel performance function is developed to obtain the predesigned transient performance and steady-state performance. Finally, theoretical analysis, numerical simulation, and actual experiments are given to verify the proposed method.

Collision avoidance Connectivity maintenance Mismatched disturbances Multi-agent systems Prescribed performance control Time-varying formation

SCI ; EI

英语

其他

National Natural Science Foundation of China["62173002","61925303","62088101","U20B2073","61720106011","62173255"] ; Beijing Natural Science Foundation[4222045]

Computer Science

Computer Science, Information Systems

WOS:000955274700001

ELSEVIER SCIENCE INC

20231213777602

Collision avoidance ; Numerical methods ; Time varying control systems

Control Systems:731.1 ; Accidents and Accident Prevention:914.1 ; Numerical Methods:921.6

COMPUTER SCIENCE

2-s2.0-85150364188

Scopus

1.School of Electrical and Control Engineering,Henan University of Urban Construction,Pingdingshan,467000,China
2.Key Lab of Fieldbus Technology and Automation of Beijing,North China University of Technology,Beijing,100144,China
3.State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing Institute of Technology,Beijing,100081,China
4.Beijing Institute of Technology Chongqing Innovation Center,Chongqing,401120,China
5.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China

Zheng，Chang Bing,Pang，Zhong Hua,Wang，Jing Xu,et al. Time-varying formation prescribed performance control with collision avoidance for multi-agent systems subject to mismatched disturbances[J]. INFORMATION SCIENCES,2023,633:517-530.

Zheng，Chang Bing,Pang，Zhong Hua,Wang，Jing Xu,Gao，Shengnan,Sun，Jian,&Liu，Guo Ping.(2023).Time-varying formation prescribed performance control with collision avoidance for multi-agent systems subject to mismatched disturbances.INFORMATION SCIENCES,633,517-530.

Zheng，Chang Bing,et al."Time-varying formation prescribed performance control with collision avoidance for multi-agent systems subject to mismatched disturbances".INFORMATION SCIENCES 633(2023):517-530.