Consensus Formation Control and Obstacle Avoidance of Multiagent Systems with Directed Topology. (13th May 2020)

• Record Type: Journal Article
• Authors: Wang, Lichao; Li, Xing; Liu, Bingyou; Zhang, Zhengzheng
• Other Names: Lee Sanghyuk Guest Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2020(2020)
• Publication Date: 2020-05-13
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2020/2637403
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This study addresses the problems of formation control and obstacle avoidance for a class of second-order multiagent systems with directed topology. Formation and velocity control laws are designed to solve the formation tracking problem. A new obstacle avoidance control law is also proposed to avoid obstacles. Then, the consensus control protocol consists of the formation, velocity, and obstacle avoidance control laws. The convergence of the proposed control protocol is analyzed by a redesigned Lyapunov function. Finally, the effectiveness of theoretical results is illustrated by simulation examples. The simulation results show that the formation tracking problem of the given multiagent systems can be realized and obstacles can be avoided under the proposed control protocol.