Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems

Autor:	Koulong, Armel, Pakniyat, Ali
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while effectively managing collision and obstacle avoidance using potential functions. By integrating neural network-based disturbance estimation and adaptive tuning laws, the proposed strategy ensures consensus and stability in leader-following formations under fixed topologies.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2410.08440 Zobrazit plný text záznamu View this record from Arxiv