Formation Control with Obstacle Avoidance for A Class of Stochastic Multiagent Systems----Institute of Automation 中文|CAS Home Profile Message from the President Administration History Find Us Contact Us About Us Research Departments News Upcoming Events Newsroom Research Divisions Research Progress Research Projects Research Scientists Introduction International Projects International Conferences Joint Institutes International Cooperation Journals Publications Papers Publications Scientific Database Multimedia Resources Join Us  Home About Us Profile Message from the President Administration History Find Us Contact Us Research Departments Newsroom News Upcoming Events Research Research Divisions Research Progress Research Projects Scientists International Cooperation Introduction International Projects International Conferences Joint Institutes Publications Journals Publications Papers Resources Scientific Database Multimedia Join Us Journals & Publications Journals Publications Papers Papers Formation Control with Obstacle Avoidance for A Class of Stochastic Multiagent Systems Jul 10, 2018Author： PrintText Size A A Title: Formation Control with Obstacle Avoidance for A Class of Stochastic Multiagent Systems Authors: Wen, GX; Chen, CLP; Liu, YJ Author Full Names: Wen, Guoxing; Chen, C. L. Philip; Liu, Yan-Jun Source: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 65 (7):5847-5855; 10.1109/TIE.2017.2782229 JUL 2018 Language: English Abstract: 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. ISSN: 0278-0046 eISSN: 1557-9948 IDS Number: FY8RK Unique ID: WOS:000427132300061 *Click Here to View Full Record Copyright 2009 Institute of Automation Chinese Academy of Sciences All Rights Reserved Address: 95 Zhongguancun East Road, 100190, BEIJING, CHINA Tel: 86-10-62551575 E-mail: info@ia.ac.cn