This paper addresses the multilayerformationcontrol(MLFC) problem for multiagent systems in constrainedspace. A layered distributed finite-time estimator(LDFE) is proposed to acquire the target states for agents in...
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This paper addresses the multilayerformationcontrol(MLFC) problem for multiagent systems in constrainedspace. A layered distributed finite-time estimator(LDFE) is proposed to acquire the target states for agents in each layer. To avoid collisions with borders,obstacles, as well as the other agents in the constrainedspace, an artificial potential function is designed based on the Dirac delta function. Based on the LDFE and the proposed potential function, the MLFC algorithm is proposed for multiple Euler-Lagrange systems(MELSs). The semi-global uniform ultimate boundedness of closed-loop errors is guaranteed by Lyapunov stability theory, while the desired formation of each layer can be achieved without collisions occurring in the constrainedspace. Simulation results are given to show the effectiveness of the proposed approaches.
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