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Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems
Wen, Guoxing; Chen, C. L. Philip; Liu, Yan-Jun
2018-07
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
Volume65Issue:7Pages:5847-5855
AbstractThis paper addresses formation control with obstacle avoidance problem for a class of second-order stochastic nonlinear multiagent systems under directed topology. Different with deterministic multiagent systems, stochastic cases are more practical and challenging because the exogenous disturbances depicted by the Wiener process are considered. In order to achieve control objective, both the leader-follower formation approach and the artificial potential field (APF) method are combined together, where the artificial potential is utilized to solve obstacle avoidance problem. For obtaining good system robustness to the undesired side effects of the artificial potential, H-infinity analysis is implemented. Based on the Lyapunov stability theory, it is proven that control objective can be achieved, of which obstacle avoidance is proven by finding an energy function satisfying that its time derivative is positive. Finally, a numerical simulation is carried out to further demonstrate the effectiveness of the proposed formation schemes.
KeywordDirected topology formation control obstacle avoidance stochastic multiagent system H-infinity analysis
DOI10.1109/TIE.2017.2782229
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000427132300061
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
The Source to ArticleWOS
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Cited Times [WOS]:15   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Wen, Guoxing,Chen, C. L. Philip,Liu, Yan-Jun. Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(7):5847-5855.
APA Wen, Guoxing,Chen, C. L. Philip,&Liu, Yan-Jun.(2018).Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(7),5847-5855.
MLA Wen, Guoxing,et al."Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.7(2018):5847-5855.
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