Fractional-Order Multi-agent Formation Using Distributed NMPC Design with Obstacles and Collision Avoidance and Connectivity Maintenance

Manesh, Farshid Aazam; Pourgholi, Mahdi; Boroujeni, Elham Amini

doi:10.1007/s40313-022-00966-3

J Control Autom Electr Syst

2022

DOI: 10.1007/s40313-022-00966-3

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Fractional-Order Multi-agent Formation Using Distributed NMPC Design with Obstacles and Collision Avoidance and Connectivity Maintenance

Farshid Aazam Manesh

Mahdi Pourgholi²,

Elham Amini Boroujeni³

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2024

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Practical time‐varying formation cooperative control for high‐order nonlinear multi‐agent systems avoiding spatial resource conflict via safety constraints

Ma,

Chou

2024

Intl J Robust & Nonlinear

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The operation of multi‐agent systems (MAS) in space necessitates considerations for obstacle avoidance, collision prevention, and connectivity among agents. This coupling conflict, stemming from spatial resource utilization, poses a significant and non‐negligible threat to the safe operation of MAS. This article proposes a consensus control scheme for the time‐varying formation of MAS, incorporating functions for maintaining connectivity, collision avoidance, and obstacle dodging. This scheme effectively constrains the time‐varying formation tracking error within an arbitrarily small range. The considered system model takes a high‐order nonlinear form, with uncertainties and disturbances present in each order. This grants the control scheme with high generality and practicability. By employing barrier Lyapunov function to delineate the safe operational space of MAS, conflicts in spatial resource utilization are avoided. This approach simultaneously fulfills the requirements for connectivity maintenance, collision avoidance, and obstacle dodging in the safe operation of MAS. An additional rotation operator is integrated into the controller to smoothly address the “minima” problem, eliminating the need for external intervention. Gaussian radial basis function is used to estimate the nonlinear terms, uncertainties, and unknown perturbation online in the system. The stability of the MAS under the proposed control scheme is analyzed through Lyapunov function. Finally, numerical simulation results are demonstrated to explain the effectiveness of the control scheme.

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Practical time‐varying formation cooperative control for high‐order nonlinear multi‐agent systems avoiding spatial resource conflict via safety constraints

Ma,

Chou

2024

Intl J Robust & Nonlinear

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show abstract

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Fractional-Order Multi-agent Formation Using Distributed NMPC Design with Obstacles and Collision Avoidance and Connectivity Maintenance

Cited by 1 publication

References 37 publications

Practical time‐varying formation cooperative control for high‐order nonlinear multi‐agent systems avoiding spatial resource conflict via safety constraints

Practical time‐varying formation cooperative control for high‐order nonlinear multi‐agent systems avoiding spatial resource conflict via safety constraints

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