Formation Control and Obstacle Avoidance for Multi-Agent Systems Using Barrier Lyapunov Functions
Jie Lian, Meng Yang, Lili Li · 2018
This paper focuses on formation control of multiagent systems with obstacle avoidance. A control protocol with bounded constraints is proposed to achieve the prescribed formation, where an exponential decay term is introduced. The convergence of the proposed algorithm is presented based on the barrier Lyapunov function method. In addition, the proposed control protocol can keep agents remaining in communication area with neighbour agents while avoiding obstacles settled in their moving area. Simulations are provided to illustrate the effectiveness of the proposed control law.