Abstract
A consensus problem of multi-agent system subject to the communication delay with fixed and switching topologies as well as optimal obstacle avoidance is investigated. An innovative non-quadratic obstacle avoidance cost function is designed from an inverse optimal control perspective and a novel dynamic potential field whose vectors are rotating around the obstacle is introduced to avoid obstacles. The asymptotic stability condition of dynamical networks based on the Lyapunov-Krasovskii function is obtained via a linear matrix inequality (LMI) formulation. Finally, numerical examples are presented to show the effectiveness of the proposed theoretical results.
| Original language | English |
|---|---|
| Article number | 7828332 |
| Pages (from-to) | 1272-1282 |
| Number of pages | 11 |
| Journal | Journal of Systems Engineering and Electronics |
| Volume | 27 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - Dec 2016 |
| Externally published | Yes |
Keywords
- communication delay
- consensus
- inverse optimal control
- obstacle avoidance