Fuzzy control of a class of autonomous formation constrained systems

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• 作者：Hairong Dong (1)
  Yuanlei Kang (1)
  Xiaoxia Yang (1)
  Xubin Sun (2)
  
• 关键词：Multi ; agent system ; Fuzzy logic ; Virtual leader ; Formation control ; Constrained environment
• 刊名：Neural Computing & Applications
• 出版年：2013
• 出版时间：December 2013
• 年：2013
• 卷：23
• 期：7-8
• 页码：1915-1922
• 全文大小：
• 作者单位：Hairong Dong (1)
  Yuanlei Kang (1)
  Xiaoxia Yang (1)
  Xubin Sun (2)
  
  1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, 100044, People’s Republic of China
  2. School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, 100044, People’s Republic of China
  
• ISSN：1433-3058

文摘

This paper investigates the problem of controlling multiple mobile agents to maintain a desired geometric formation within a constrained environment. The influence of diversity of the perception radius and initial velocity is considered by using a fuzzy-logic-based potential function. A virtual leader is introduced to direct the group to track a desired path. Then the motion of the group is examined with the velocity damping and the mass of all the agents, respectively. By LaSalle’s invariant principle, not only the system stability can be guaranteed, but also the desired formation pattern without collisions with given boundary of a multi-agent system can be achieved. Numerical simulations are illustrated to demonstrate the effectiveness and robustness of the proposed control scheme.