Fast Finite-Time Bipartite Formation With Obstacle Avoidance for Time-Delay Multiagent Systems: Application in Mobile Robot Swarm
Tiangong University · Tsinghua University · +2 more institutions
Abstract
The bipartite formation allows agents to achieve two formation structures in opposite directions and finds wide applications in social as well as natural situations. This article investigates the fast finite-time bipartite formation control problem for time-delay nonlinear multiagent systems operating in an obstacle environment. A fuzzy adaptive formation control strategy is proposed utilizing the leader-following method, under which the desired formation is achieved at a fast convergence rate. Since the practical actuator output is usually limited and susceptible to faults, its antisaturation and fault-tolerance capacities are thus considered in the controller construction. Moreover, an obstacle avoidance…
Citation impact
- FWCI
- 26.72
- Percentile
- 100%
- References
- 24
Authors
4Topics & keywords
- Mobile robot
- Obstacle avoidance
- Swarm behaviour
- Computer science
- Obstacle
- Multi-agent system
- Bipartite graph
- Collision avoidance