二阶多智能体编队及碰撞避免控制  

Formation Control of Second-order Multi-agent Systems with Collision Avoidance

作　　者：周瑞敏 司文杰 耿则勋[3] ZHOU Rui-min;SI Wen-jie;GENG Ze-xun(College of Information Engineering,Pingdingshan University,Pingdingshan 467000,China;School of Electrical and Control Engineering,Henan University of Urban Construction,Pingdingshan 467000,China;College of Geographic Space Information,PLA Information Engineering University,Zhengzhou 450052,China)

机构地区：[1]平顶山学院信息工程学院,河南平顶山467000 [2]河南城建学院电气与控制工程学院,河南平顶山467000 [3]解放军信息工程大学地理空间信息学院,河南郑州450052

出　　处：《控制工程》2021年第11期2223-2229,共7页Control Engineering of China

基　　金：国家自然科学青年基金资助项目(61803145);河南省科技计划项目(212102310301);河南省教育厅项目(21A520034);平顶山学院青年基金项目(PXY-QNJJ-202006)。

摘　　要：针对状态依赖联合连通拓扑下的二阶多智能体系统,提出了主从式编队跟踪及碰撞避免控制策略。考虑主智能体速度可知与不可知两种情形,分别设计了分布式编队控制协议。此外,设计了带有碰撞避免的编队控制协议;其中,碰撞避免势场函数引入了基于相对速度的自适应项,可以有效地减小势场力对编队跟踪误差的负面影响。针对上述结果,分别给出了理论证明,并进行了数值仿真和对比实验,验证了所设计方法的有效性。A leader-following formation tracking control approach for the second-order multi-agent systems with collision avoidance is proposed in this paper under a state-dependent jointly-connected topology.Considering two cases of leader velocity known and unknown, distributed formation control protocols are designed respectively. In addition, the formation control protocol with collision avoidance is designed. The collision avoidance potential field function introduces the adaptive term based on relative velocity, which can effectively reduce the negative effect of the potential field force on the formation tracking error. For the above results, theoretical proofs are presented, and numerical simulations as well as comparative experiment are performed to verify the effectiveness of the designed method.

关 键 词：二阶多智能体系统 编队控制 碰撞避免 状态依赖 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]