基于势函数的护卫队形控制

Safeguarded Formation Control Via the Artificial Potential Method

摘要:

利用Multi-agent理论研究一类位置—速度模型的护卫队形控制问题。研究的问题中同时考虑队形实现和过程避碰两个因素,基于势函数方法给出了控制器设计,在设计的控制器作用下,编队中的护卫者能按指定队形护卫被护卫者,并保证在运动过程中编队成员间不发生碰撞。

Abstract:

In this paper, a safeguarded formation control algorithm was proposed for a position-velocity safeguarded formation control system using multi-agent theory. In the study, based on artificial potential method, a distributed safeguarded formation control algorithm was presented. It was guaranteed that the system asymptotically converged to the pre-specified safeguarded formation on the effect of the control. And it could be proved that during achieving the objective, collisions among the members in the formation were avoided.