Journal
SYSTEMS & CONTROL LETTERS
Volume 183, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.sysconle.2023.105672
Keywords
Formation control; Asymmetric barrier Lyapunov function; Collision avoidance; Connectivity preservation; Multi-agent systems
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This paper proposes a distributed control design methodology to stabilize a desired formation shape in a multi-agent system while incorporating collision avoidance and connectivity preservation simultaneously. Time-varying constraints are applied to handle collision avoidance and connectivity preservation, and the concept of asymmetric time-varying barrier Lyapunov function is exploited to derive the stabilizing distributed control law.
Collision avoidance and connectivity preservation are two contrasting issues in multi-agent formation control problems. This paper proposes a distributed control design methodology to stabilize a desired formation shape in a multi-agent system while incorporating these two factors simultaneously. Contrary to a simplifying point mass assumption, we consider that agents in the group are characterized by a circular disk-type structure of different radii. Collision avoidance and connectivity preservation in the group are handled by applying time-varying constraints on the inter-center distances among neighboring agents. The concept of asymmetric time-varying barrier Lyapunov function is exploited to derive the stabilizing distributed control law, under a mild assumption on the initial conditions and a feasibility condition relating dimensions of the desired formation with the lower and upper limits of the barrier functions. We also obtain analytical bounds on the various post-design signals and illustrate the results through a simulation example. Finally, the effect of input saturation is discussed, and a comparison with the sensing-region-dependent potential function-based control design approach from the existing literature is provided.
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