控制理论(社会学)
反推
非线性系统
避障
计算机科学
李雅普诺夫函数
避碰
跳跃式监视
跟踪误差
航程(航空)
Lyapunov稳定性
人工神经网络
理论(学习稳定性)
自适应控制
碰撞
人工智能
工程类
移动机器人
控制(管理)
机器人
机器学习
物理
航空航天工程
量子力学
计算机安全
作者
Sung Jin Yoo,Bong Seok Park
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2024-01-01
卷期号:: 1-13
标识
DOI:10.1109/tcyb.2023.3265405
摘要
This article explores a guaranteed network connectivity problem during moving obstacle avoidance within a distributed formation tracking framework for uncertain nonlinear multiagent systems with range constraints. We investigate this problem based on a new adaptive distributed design using nonlinear errors and auxiliary signals. Within the detection range, each agent regards other agents and static or dynamic objects as obstacles. The nonlinear error variables for formation tracking and collision avoidance are presented, and the auxiliary signals in formation tracking errors are introduced to maintain network connectivity under the avoidance mechanism. The adaptive formation controllers using command-filtered backstepping are constructed to ensure closed-loop stability with collision avoidance and preserved connectivity. Compared with the previous formation results, the resulting features are as follows: 1) the nonlinear error function for the avoidance mechanism is considered an error variable, and an adaptive tuning mechanism for estimating the dynamic obstacle velocity is derived in a Lyapunov-based control design procedure; 2) network connectivity during dynamic obstacle avoidance is preserved by constructing the auxiliary signals; and 3) owing to neural networks-based compensating variables, the bounding conditions of time derivatives of virtual controllers are not required in the stability analysis.
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