Collision Avoidance Control And Tracking Control For Multi-agent Systems With Connectivity Preservation

With the development of science,various fields are crossover.As a derived field,multiagent has attracted wide attention from scholars both at home and abroad;a series of related results have emerged.However,there are still many problems deserves further research.Based on the existing results,we study the obstacle avoidance and tracking control of multiagent systems under connectivity preservation by using the method of potential functions.The main contents are summarized as follows:1.The finite-time consensus problem for multi-agent system with connectivity preservation is investigated.Based on the techniques of adaptive projection algorithm and adding a power integrator,the states of all agents can achieve finite-time consensus by using the proposed finite-time adaptive controller.The connectivity preservation is guaranteed by choosing an appropriate potential functions.Numerical examples are presented to illustrate the effectiveness of the proposed controller.2.The flocking problem for multi agent system with connectivity preservation and collision avoidance is considered.Firstly,we investigates flocking problem for multiple unicycle systems in presence of heterogenous input disturbances.Adaptive compensators are employed to eliminate the effect of disturbances.Based on the constructed potential functions,a class of novel distributed dynamic controller is designed to implement the flocking with connectivity preservation and collision avoidance.The proposed controller has avoided connection redundancy by only maintaining the connectivity of a minimum spanning tree in the initial topology.Secondly,based on the modified potential functions,a novel distributed controller is proposed.By tuning the design parameters,the unicycles finally aggregate so that the average distances is bounded by a pre-specified positive number.The result is then extended to multiple unicycles with heterogenous input disturbances.Illustrative examples are presented to show the improvements and effectiveness of the proposed controllers.3.The output-feedback control problem for disturbed nonlinear multi-agent systems with connectivity preservation and collision avoidance is handled.The nonlinearities in the dynamics are assumed to be more general.In order to deal with the difficulty caused such nonlinearities,some auxiliary variables are introduced into the state observer.By using adaptive theory and the method of potential functions,a novel output feedback consensus algorithm is developed to guarantee that the states of all agents achieve flocking with connectivity preservation and collision avoidance.Illustrative examples are presented to demonstrate the effectiveness of the actuator involved in this paper.4.We consider the tracking problem for leader-following Euler-Lagrange multi-agent systems.Firstly,we investigate the leader-following output-feedback tracking for a class of stochastic Euler-Lagrange multi-agent systems with unmeasurable velocity and input disturbances.Based on the proposed dynamic velocity observer,an adaptive output-feedback consensus algorithm is designed.The tracking errors of all agents can converge to an arbitrarily small neighborhood of zero in probability by tuning the design parameters.Secondly,we study the finite-time leader-following rendezvous with connectivity preservation for a class of Euler-Lagrange multi-agent systems,where the leader subject to uncertain external disturbances.By using the technique of adding a power integrator?potential functions and designing a finite-time disturbance observer,a dynamic controller is proposed to guarantee the leader-following rendezvous in finite time with connectivity preservation.Numerical examples are provided to illustrate the effectiveness of the designed controllers.