تقرير
Safe and Stable Formation Control with Distributed Multi-Agents Using Adaptive Control and Control Barrier Functions
العنوان: | Safe and Stable Formation Control with Distributed Multi-Agents Using Adaptive Control and Control Barrier Functions |
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المؤلفون: | Solano-Castellanos, Jose A., Annaswamy, Anuradha |
سنة النشر: | 2024 |
المجموعة: | Computer Science |
مصطلحات موضوعية: | Electrical Engineering and Systems Science - Systems and Control |
الوصف: | This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an integrative approach that combines Control Barrier Functions, Adaptive Control, and connected graphs. A reference model is designed so as to ensure a safe and stable formation control strategy. This is combined with a provably correct adaptive control design that includes a use of a CBF-based safety filter that suitably generates safe reference commands, and employs error-based relaxation (EBR) of Nagumo's Invariance Theorem. Together, it is shown to lead to a guarantee of boundedness, formation control, and forward invariance. Numerical examples are provided to support the theoretical derivations. |
نوع الوثيقة: | Working Paper |
URL الوصول: | http://arxiv.org/abs/2403.15674 |
رقم الأكسشن: | edsarx.2403.15674 |
قاعدة البيانات: | arXiv |
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