Collision-free Consensus in Second-order Multi-agent Dynamical Systems
A collision-free consensus algorithm with leader tracking for multi-agent systems is presented. Virtual force is introduced for avoiding agents’ inner collisions, and a method for choosing virtual force function is proposed. It is supposed that this kind of force is only effective when the distance between two agents is beyond a safe region. It performs repulsion function when the distances among agents get shorter, to separate agents from each other. With the presented consensus algorithm, agents match the leader’s speed, operate following the leader, and keep a certain distance from each other. Lyapunov stability theorem is applied to prove the stability of the dynamic system. Simulation results verify the effectiveness of the proposed algorithm.
Multi-agent systems collision-free consensus virtual force
Yang LI Gong-You TANG Xi-Xin YANG Pei-Dong WANG
College of Information Science and Engineering, Ocean University of China, Qingdao 266100
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6245-6249
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）