Fu Junjie, Wen Guanghui, Yu Xinghuo, Wu Zheng-Guang
IEEE Trans Cybern. 2022 Apr;52(4):2149-2162. doi: 10.1109/TCYB.2020.3000264. Epub 2022 Apr 5.
In this article, we consider the distributed formation navigation problem of second-order multiagent systems subject to both velocity and input constraints. Both collision avoidance and connectivity maintenance of the network are considered in the controller design. A control barrier function method is employed to achieve multiple control objectives simultaneously while satisfying the velocity and input constraints. First, a nominal distributed leader-following formation controller is proposed which satisfies the velocity and input constraints uniformly and handles switching communication graphs. A nonsmooth analysis is employed to prove the global convergence of the controller. Then, a topology-based connectivity maintenance strategy using a new notion of the formation-guided minimum cost spanning tree is proposed and the corresponding barrier function-based constraints are derived. The barrier function-based collision-avoidance conditions are also developed. All barrier function-based constraints are then combined to formulate a quadratic programming problem which modifies the nominal controller when necessary to achieve both collision avoidance and connectivity maintenance. Simulation results demonstrate the effectiveness of the proposed control strategy.
在本文中，我们考虑了受速度和输入约束的二阶多智能体系统的分布式编队导航问题。在控制器设计中同时考虑了网络的避碰和连通性保持。采用控制障碍函数方法在满足速度和输入约束的同时实现多个控制目标。首先，提出了一种标称分布式领导者跟随编队控制器，该控制器能均匀满足速度和输入约束并处理切换通信图。采用非光滑分析来证明控制器的全局收敛性。然后，提出了一种基于拓扑的连通性保持策略，该策略使用了编队引导的最小代价生成树的新概念，并推导了相应的基于障碍函数的约束条件。还开发了基于障碍函数的避碰条件。然后将所有基于障碍函数的约束条件组合起来，形成一个二次规划问题，该问题在必要时修改标称控制器以实现避碰和连通性保持。仿真结果证明了所提出控制策略的有效性。
