Collisions-Free Distributed Cooperative Output Regulation of Nonlinear Multiagent Systems

• 成果类型: Article
• 署名作者: An, Liwei; Yang, Guang-Hong
• 署名单位: Northeastern University - China; Northeastern University - China
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3409210
• 发表日期: 2024
• 页码: 8072-8079
• 关键词: trajectory; shape; regulation; Multi-agent systems; safety; Collision avoidance; observers; Barrier functions; collision/obstacle avoidance; distributed cooperative output regulation; multiagent systems

摘要

This article studies the problem of collision/obstacle avoidance in the distributed cooperative output regulation of nonlinear multiagent systems (MASs). First, a nonlinear distributed command governor equipped by two dynamical barrier functions is constructed to generate safe command signals. Then, a filtering-based distributed command tracking control scheme is proposed. It is shown that the MAS adaptively reconfigures its formation shape in a distributed way when entering into the barrier function's coverage to avoid collisions, and quickly recovers the desired formation shape along with the reference trajectory after being away from the barrier function's coverage. Simulation results are given to illustrate the effectiveness of the proposed scheme.