Collision-Free Output Feedback Distributed Coordination of MASs Under Unreliable Communication Topologies
研究了通信故障或攻击导致拓扑不可靠时，多智能体系统仅靠输出信息实现无碰撞协调的问题，提出分布式指令调节器和基于观测器的安全跟踪控制器，通过动态高增益缩放和障碍函数保证避碰。
This article investigates the problem of collision-free output feedback distributed coordination (OFDC) of multi-agent systems under unreliable communication topologies. Unreliable communication topologies (e.g., induced by communication failures and adversarial attacks) can disrupt cooperative decision-making among agents, and only output information being available can also limit the transient performance of the local controller, thereby inducing collisions. A distributed command governor is presented, which dynamically generates safe formation command signals. When the communication is disrupted, sufficiently loose collision-avoidance formation signals are generated to tolerate the effects of transient performance degradation caused by unreliable communication topologies. Incorporating the dynamic high-gain scaling technique, an observer-based safety tracking controller is designed. The barrier function is introduced into the dynamic scaling variable, and the transient tracking performance of the agents at risk of collision is strictly guaranteed, even if only output information is available, thus achieving collision-free coordination. Finally, the effectiveness of the proposed scheme is verified through a simulation example.