Region tracking control for high‐order multi‐agent systems in restricted space

作者：Xiaoming Sun, Shuzhi Sam Ge, Jun Zhang, Xianbin Cao · 发表于：IET Control Theory and Applications · 年份：2016 · DOI：10.1049/iet-cta.2015.0877 · 被引用次数：14 · 研究领域：Distributed Control Multi-Agent Systems、Adaptive Control of Nonlinear Systems、Control and Dynamics of Mobile Robots

In this study, decentralised region tracking control is proposed to force a group of mobile agents with high‐order non‐linear dynamics to track a moving target region without collisions as well as to avoid the obstacle on the track in restricted space. The decentralised controllers can also guarantee connectivity preserving of the dynamic interaction network. The control design is based on artificial potential functions, neural network (NN) approximation, adaptive backstepping techniques and Lyapunov's method. It is proved that under the adaptive NN control, the tracking error of each agent can converge to an adjustable neighbourhood of the origin, although some of them do not access the desired region directly. Simulation results are represented to illustrate the performance of the proposed approach.