Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems
文献类型：期刊论文
| 作者 | Wen, Guoxing5; Chen, C. L. Philip2,3,4; Liu, Yan-Jun1
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2018-07-01 |
| 卷号 | 65期号:7页码:5847-5855 |
| 关键词 | Directed topology formation control obstacle avoidance stochastic multiagent system H-infinity analysis |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2017.2782229 |
| 通讯作者 | Wen, Guoxing(gxwen@live.cn) |
| 英文摘要 | This paper addresses formation control with obstacle avoidance problem for a class of second-order stochastic nonlinear multiagent systems under directed topology. Different with deterministic multiagent systems, stochastic cases are more practical and challenging because the exogenous disturbances depicted by the Wiener process are considered. In order to achieve control objective, both the leader-follower formation approach and the artificial potential field (APF) method are combined together, where the artificial potential is utilized to solve obstacle avoidance problem. For obtaining good system robustness to the undesired side effects of the artificial potential, H-infinity analysis is implemented. Based on the Lyapunov stability theory, it is proven that control objective can be achieved, of which obstacle avoidance is proven by finding an energy function satisfying that its time derivative is positive. Finally, a numerical simulation is carried out to further demonstrate the effectiveness of the proposed formation schemes. |
| WOS关键词 | H-INFINITY-CONTROL ; NONLINEAR-SYSTEMS ; INPUT CONSTRAINTS ; MOBILE ROBOTS ; FEEDBACK ; NETWORKS ; SYNCHRONIZATION ; CONSENSUS ; VEHICLES ; DELAYS |
| 资助项目 | Doctoral Scientific Research Staring Fund of Binzhou University[2016Y14] ; National Natural Science Foundation of China[61572540] ; Macau Science and Technology Development Fund (FDCT)[019/2015/A] ; Macau Science and Technology Development Fund (FDCT)[024/2015/AMJ] ; Macau Science and Technology Development Fund (FDCT)[079/2017/A2] ; University of Macau MYR Grants |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000427132300061 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Doctoral Scientific Research Staring Fund of Binzhou University ; National Natural Science Foundation of China ; Macau Science and Technology Development Fund (FDCT) ; University of Macau MYR Grants |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28239]  |
| 专题 | 离退休人员 |
| 通讯作者 | Wen, Guoxing |
| 作者单位 | 1.Liaoning Univ Technol, Coll Sci, Jinzhou 121001, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China 3.DalianMaritime Univ, Dalian 116026, Peoples R China 4.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 99999, Peoples R China 5.Binzhou Univ, Coll Sci, Binzhou 256600, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wen, Guoxing,Chen, C. L. Philip,Liu, Yan-Jun. Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(7):5847-5855. |
| APA | Wen, Guoxing,Chen, C. L. Philip,&Liu, Yan-Jun.(2018).Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(7),5847-5855. |
| MLA | Wen, Guoxing,et al."Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.7(2018):5847-5855. |
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