基於時變控制屏障函數之具輸入限制多代理人系統防碰撞編隊控制

Abstract

本論文探討具輸入限制二階積分器多代理人系統之編隊控制問題。研究目標為在輸入限制下實現編隊誤差的漸近收斂，同時避免代理人之間及與障礙物之碰撞。我們提出一個創新的控制器，以時變控制屏障函數為基礎，對編隊誤差施加一個逐漸收縮的邊界，從而在不發生特定類型死結的情況下，保證誤差的漸近收斂。文中推導出此類死結發生的充要條件，並提出相應的解決策略。此外，我們證明了在輸入限制下控制輸入之存在。最後，我們透過模擬展示所提出之基於時變控制屏障函數之控制器設計與死結解決策略之效果，驗證本論文提出之控制器設計的有效性。

This paper considers the formation control problem of a multi-agent system (MAS) of input-constrained double integrator agents. The goal is to consider input constraint and achieve asymptotic convergence of the formation error while avoiding collision avoidance among agents and with obstacles. We propose a novel controller that enforces a shrinking bound on the formation error based on time-varying control barrier functions (CBFs), and ensures asymptotic error convergence when a certain class of deadlocks does not occur. A necessary and sufficient condition for such deadlocks is derived, and a corresponding resolution strategy is proposed. Furthermore, we prove the existence of control input satisfying the input constraint. Simulations are provided to illustrate the effect of our time-varying CBF-based error controller design as well as the deadlock resolution strategy, demonstrating the efficacy of our proposed controller design.