Collision-Risk-Based Event-Triggered Optimal Formation Control for Mobile Multiagent Systems Under Incomplete Information Conditions
针对移动多智能体系统，提出基于碰撞风险的事件触发最优编队控制方法，通过定义碰撞风险相关指标并设计时变通信拓扑与防撞控制律，在不完全信息下实现碰撞避免与编队优化。
This article deals with collision-risk-based event-triggered optimal formation control problems for mobile multiagent systems. First, several collision-risk-related definitions, such as collision-free margin, moving direction angle, collision risk angle, and collision risk level, are proposed for the moving agents. Then, a collision-risk dependent, time-varying, event-triggered heterogeneous communication network topology is developed, where the agent starts obtaining information of the neighboring agents only when collision risks occur among them. Third, an anti-collision control law, which is composed of a switch function, a control force direction function, and a control strength function, is designed to guarantee the collision avoidance formation of multiagents. Fourth, to ensure the formation quality and save control cost of the multiagent system, an optimal formation control scheme with feedforward compensation is designed. Simulation results illustrate that: 1) by using the collision risk information of mobile agents, the proposed control scheme is effective to realize the collision avoidance optimal formation task and 2) the anti-collision formation controller can be implemented with incomplete information of the agents.