控制理论(社会学)
避障
多智能体系统
代数图论
非线性系统
网络拓扑
概括性
模糊逻辑
李雅普诺夫函数
计算机科学
模糊控制系统
自适应控制
图论
Lyapunov稳定性
障碍物
数学优化
数学
控制(管理)
移动机器人
人工智能
机器人
组合数学
物理
操作系统
政治学
法学
心理学
心理治疗师
量子力学
作者
Xuefei Wang,Hongjun Ma,Haobo Kang
出处
期刊:IEEE Transactions on Network Science and Engineering
[Institute of Electrical and Electronics Engineers]
日期:2023-03-01
卷期号:10 (2): 619-630
被引量:1
标识
DOI:10.1109/tnse.2022.3213342
摘要
This paper investigates the multi-group formation obstacle avoidance control problem of second-order nonlinear leader-follower multi-agent systems (MASs) with unknown nonlinear function and uncertain input disturbance. To make multi-group MASs achieve global consensus, a distributed global fuzzy adaptive control method is presented. Then, navigation functions are employed to make agents bypass obstacles and reach the target positions. The adaptive method is applied to adjust parameters online which can substantially reduce computation burdens and make trajectories of agents smooth. Without loss of generality, both fixed and switching interaction topologies are all taken into account. After that, through Lyapunov stability theory and algebraic graph theory, the feasibility of the method proposed in this paper has been proved. Finally, simulation examples are given to validate the effectiveness of the method proposed in this paper.
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