Robust and Collision-Free Formation Control of Multi-Agent Systems with Limited Information

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dc.contributor.authorFei, Y.
dc.contributor.authorShi, P.
dc.contributor.authorLim, C.C.
dc.date.issued2023
dc.descriptionPublished 8 August 2023
dc.description.abstractThis article investigates the collision-free cooperative formation control problem for second-order multiagent systems with unknown velocity, dynamics uncertainties, and limited reference information. An observer-based sliding mode control law is proposed to ensure both the convergence of the system’s tracking error and the boundedness of the relative distance between each pair of agents. First, two new finite-time neural-based observer designs are introduced to estimate both the agent velocity and the system uncertainty. The sliding mode differentiator is then employed for every agent to approximate the unknown derivatives of the formation reference to further construct the limited-information-based sliding mode controller. To ensure that the system is collision-free, artificial potential fields are introduced along with a time-varying topology. An example of a multiple omnidirectional robot system is used to conduct numerical simulations, and necessary comparisons are made to justify the effectiveness of the proposed limited information-based control scheme.
dc.description.statementofresponsibilityYang Fei, Peng Shi, and Cheng-Chew Lim
dc.identifier.citationIEEE Transactions on Neural Networks and Learning Systems, 2023; 34(8):4286-4295
dc.identifier.doi10.1109/TNNLS.2021.3112679
dc.identifier.issn1045-9227
dc.identifier.issn2162-2388
dc.identifier.orcidFei, Y. [0000-0002-4342-2196]
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.orcidLim, C.C. [0000-0002-2463-9760]
dc.identifier.urihttps://hdl.handle.net/2440/134017
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers
dc.relation.granthttp://purl.org/au-research/grants/arc/DP170102644
dc.rights© 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.
dc.source.urihttps://doi.org/10.1109/tnnls.2021.3112679
dc.subjectCollision avoidance; formation control; multiagent systems; neural-based observer; sliding mode control
dc.titleRobust and Collision-Free Formation Control of Multi-Agent Systems with Limited Information
dc.typeJournal article
pubs.publication-statusPublished

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