Finite-time formation control without collisions for multiagent systems with communication graphs composed of cyclic paths
type: Item
instance of: scholarly article
title: Finite-time formation control without collisions for multiagent systems with communication graphs composed of cyclic paths
zbMATH Open document ID: 1394.93005
DOI: 10.1155/2015/948086
author: J. F. Flores-Resendiz
author: J. Santiaguillo-Salinas
author: Eduardo Aranda-Bricaire
author: Jaime González-Sierra
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.
Mathematics Subject Classification ID: 93A14
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6927656
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/948086
OpenAlex ID: W1543029464
Wikidata QID: Q59120004
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description: scientific article; zbMATH DE number 6927656