Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916433479335936 |
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| author | Koulong, Armel Pakniyat, Ali |
| author_facet | Koulong, Armel Pakniyat, Ali |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_08440 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems Koulong, Armel Pakniyat, Ali Systems and Control 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. |
| title | Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2410.08440 |