Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay

In this article, the formation control problem has been considered for second-order multi-agent system with time delay. The involved controller is divided into two parts. The first part is to design the leader-following and adaptive control strategies that are utilized to achieve the specified forma...

Full description

Bibliographic Details
Main Authors:	Hongbo Kang, Wenqing Wang, Chunjie Yang, Zhen Li
Format:	Article
Language:	English
Published:	IEEE 2020-01-01
Series:	IEEE Access
Subjects:	Formation control collision avoidance multi-agent system time delay
Online Access:	https://ieeexplore.ieee.org/document/9163329/

id	doaj-bea447b7318947a69a3167860a3415e6
record_format	Article
spelling	doaj-bea447b7318947a69a3167860a3415e62021-03-30T03:45:28ZengIEEEIEEE Access2169-35362020-01-01814257114258010.1109/ACCESS.2020.30129929163329Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time DelayHongbo Kang0Wenqing Wang1https://orcid.org/0000-0003-2818-1635Chunjie Yang2https://orcid.org/0000-0001-7933-4828Zhen Li3https://orcid.org/0000-0002-1517-3452Institute of Electrical and Control Engineering, Chang’an University, Xi’an, ChinaSchool of Automation, Xi’an University of Posts and Telecommunications, Xi’an, ChinaSchool of Automation, Xi’an University of Posts and Telecommunications, Xi’an, ChinaSchool of Automation, Xi’an University of Posts and Telecommunications, Xi’an, ChinaIn this article, the formation control problem has been considered for second-order multi-agent system with time delay. The involved controller is divided into two parts. The first part is to design the leader-following and adaptive control strategies that are utilized to achieve the specified formation shape. Based on a potential field function, the second part is applied to realizing the collision avoidance of the agents communicating with each other. By using the Lyapunov theory, some sufficient criteria are derived to ensure the specified formation shape of all agents and collision avoidance of any pair of agents. The derived criteria are formulated in terms of algebraic conditions, in which the control gains play an important role. Finally, a numerical simulation is given to illustrate the effectiveness of the derived results.https://ieeexplore.ieee.org/document/9163329/Formation controlcollision avoidancemulti-agent systemtime delay
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Hongbo Kang Wenqing Wang Chunjie Yang Zhen Li
spellingShingle	Hongbo Kang Wenqing Wang Chunjie Yang Zhen Li Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay IEEE Access Formation control collision avoidance multi-agent system time delay
author_facet	Hongbo Kang Wenqing Wang Chunjie Yang Zhen Li
author_sort	Hongbo Kang
title	Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay
title_short	Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay
title_full	Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay
title_fullStr	Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay
title_full_unstemmed	Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay
title_sort	leader-following formation control and collision avoidance of second-order multi-agent systems with time delay
publisher	IEEE
series	IEEE Access
issn	2169-3536
publishDate	2020-01-01
description	In this article, the formation control problem has been considered for second-order multi-agent system with time delay. The involved controller is divided into two parts. The first part is to design the leader-following and adaptive control strategies that are utilized to achieve the specified formation shape. Based on a potential field function, the second part is applied to realizing the collision avoidance of the agents communicating with each other. By using the Lyapunov theory, some sufficient criteria are derived to ensure the specified formation shape of all agents and collision avoidance of any pair of agents. The derived criteria are formulated in terms of algebraic conditions, in which the control gains play an important role. Finally, a numerical simulation is given to illustrate the effectiveness of the derived results.
topic	Formation control collision avoidance multi-agent system time delay
url	https://ieeexplore.ieee.org/document/9163329/
work_keys_str_mv	AT hongbokang leaderfollowingformationcontrolandcollisionavoidanceofsecondordermultiagentsystemswithtimedelay AT wenqingwang leaderfollowingformationcontrolandcollisionavoidanceofsecondordermultiagentsystemswithtimedelay AT chunjieyang leaderfollowingformationcontrolandcollisionavoidanceofsecondordermultiagentsystemswithtimedelay AT zhenli leaderfollowingformationcontrolandcollisionavoidanceofsecondordermultiagentsystemswithtimedelay
_version_	1724182884323950592

Leader-Following Formation Control and Collision Avoidance of Second-Order Multi-Agent Systems With Time Delay

Similar Items