Optimally distributed formation control with obstacle avoidance for mixed-order multi-agent systems under switching topologies

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dc.contributor.authorYan, B.
dc.contributor.authorShi, P.
dc.contributor.authorLim, C.
dc.contributor.authorWu, C.
dc.contributor.authorShi, Z.
dc.date.issued2018
dc.description.abstractIn this study, an optimally distributed formation control approach is proposed for mixed-order multi-agent systems to achieve formation consistency with obstacle avoidance. The systems consist of unmanned aerial vehicles and ground robots. The authors present a formation consistency control for a mixed-order system under switching topologies. An optimally distributed method is developed by matrix transformation method and linear quadratic regulator theory, which leads to an optimisation on both horizontal and vertical control. For obstacle avoidance, a non-quadratic cost function is introduced based on optimal control. The resulting closed-loop mixed-order system is validated to be stable with an optimal performance. The formation consensus and obstacle avoidance are verified by simulations to show the effectiveness and potentials.
dc.description.statementofresponsibilityBing Yan, Peng Shi , Cheng-Chew Lim, Chengfu Wu, Zhiyuan Shi
dc.identifier.citationIET Control Theory and Applications, 2018; 12(13):1853-1863
dc.identifier.doi10.1049/iet-cta.2017.1086
dc.identifier.issn1751-8644
dc.identifier.issn1751-8652
dc.identifier.orcidYan, B. [0000-0003-3945-3069]
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. [0000-0002-2463-9760]
dc.identifier.urihttp://hdl.handle.net/2440/120313
dc.language.isoen
dc.publisherThe Institution of Engineering and Technology; IEEE
dc.rights© The Institution of Engineering and Technology 2018
dc.source.urihttps://doi.org/10.1049/iet-cta.2017.1086
dc.titleOptimally distributed formation control with obstacle avoidance for mixed-order multi-agent systems under switching topologies
dc.typeJournal article
pubs.publication-statusPublished

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