Journal
ISA TRANSACTIONS
Volume 107, Issue -, Pages 270-286Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2020.07.028
Keywords
Mixed-order multi-agent systems (MOMAS); Consensus; Optimal formation control; Obstacle avoidance
Categories
Funding
- Ministry of industry and information technology [[2019]331]
- Heilongjiang Natural Science Foundation [LH2019F006]
- Research and Development Project of Application Technology in Harbin [2017R-AQXJ095]
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This article addresses the formation control with obstacle avoidance for a mixed-order linear multi-agent in the ocean environment via a distributed optimal control approach. The considered system is comprised of unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs) and unmanned underwater vehicles (UUVs). A consensus control law for horizontal direction and height direction is then designed uniformly, and the stability is ensured using block Kronecker product and matrix transformation theory. A linear quadratic regulator method is further designed to achieve distributed optimization. Moreover, for obstacle avoidance in the UUVs, a non-quadratic penalty function is constructed based on the seamount threat model by adopting an inverse optimal control approach. Simulation results confirm the efficiency of the consensus and obstacle avoidance. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.
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