期刊
IEEE CONTROL SYSTEMS LETTERS
卷 6, 期 -, 页码 944-949出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LCSYS.2021.3087609
关键词
Actuators; Uncertainty; Sensors; Collision avoidance; Asymptotic stability; Stability analysis; Multi-agent systems; Adaptive control; uncertain systems; cooperative control
资金
- Japan Science and Technology Agency
- JST Strategic International Collaborative Research Program [18065977]
- Russian Foundation for Basic Research [19-58-70002]
This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach, utilizing optimized distribution and a coverage controller to achieve obstacle avoidance.
This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations.
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