非完整约束多智能体系统基于屏障控制函数的分布式协同控制

In this paper, a distributed cooperative control algorithm based on the control barrier function (CBF) is designed to realize the connectivity and formation control of nonholonomic constrained multi-agent systems under the leader-follower framework. The connectivity maintenance objective is modeled as a system constraint, and the corresponding zeroing barrier function (ZBF) is defined. By constructing the relationship between the Lyapunov function and the input angular velocity, the linear velocity controller ensures speed tracking and formation tracking, and angular velocity controller realizes the correction of motion angle. The connectivity constraint ZBF is proved to be positive invariant, which shows that the follower agent always maintains connectivity with the leader when they are initially connected, meanwhile the formation error is asymptotically convergent. The formation in this paper is appropriate for not only the common fixed formation requirements, but also the situation where the leader is dynamic (with linear speed and angular speed). At the end of this paper, the effectiveness of the proposed algorithm under different formation is verified by numerical simulation.