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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成 | zh_TW |
| dc.contributor.advisor | Li-Chen Fu | en |
| dc.contributor.author | 莊哲榮 | zh_TW |
| dc.contributor.author | Che-Jung Chuang | en |
| dc.date.accessioned | 2025-09-17T16:32:15Z | - |
| dc.date.available | 2025-09-18 | - |
| dc.date.copyright | 2025-09-17 | - |
| dc.date.issued | 2025 | - |
| dc.date.submitted | 2025-08-05 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/99739 | - |
| dc.description.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。 | zh_TW |
| dc.description.abstract | 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. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2025-09-17T16:32:15Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2025-09-17T16:32:15Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 誌謝 i
摘要 ii Abstract iii Contents iv List of Figures vi Chapter 1 Introduction 1 1.1 Background and Motivation 1 1.2 Literature Review 5 1.3 Objectives 7 1.4 Contributions 7 1.5 Thesis Organization 9 Chapter 2 Preliminaries and Problem Statement 10 2.1 Control Barrier Function 10 2.1.1 Constraint Set and Set Invariance 11 2.1.2 CBF-based Controllers 14 2.1.3 Existence of Control Input 15 2.2 Problem Statement 17 Chapter 3 Constrained Collision-Free Formation Controller 20 3.1 Constrained Neutral Reference Controller 20 3.2 Time-Varying CBF-based Stabilizing Controller for Single Agent 22 3.2.1 Asymptotic Error Convergence 22 3.2.2 Time-Varying Error Bound 25 3.2.3 Single-Agent Controller Formulation 27 3.3 Collision-Free Formation Controller for MAS 31 3.3.1 Collision Avoidance Constraints 31 3.3.2 Formation Controller Formulation 34 3.4 Deadlock Resolution 37 3.4.1 Condition for Deadlocks 37 3.4.2 Deadlock Resolution Strategy 39 Chapter 4 Simulations 41 Chapter 5 Conclusion 47 References 48 | - |
| dc.language.iso | en | - |
| dc.subject | 防碰撞控制 | zh_TW |
| dc.subject | 最佳化 | zh_TW |
| dc.subject | 控制屏障函數 | zh_TW |
| dc.subject | 受限控制 | zh_TW |
| dc.subject | 編隊控制 | zh_TW |
| dc.subject | formation control | en |
| dc.subject | control barrier function | en |
| dc.subject | constrained control | en |
| dc.subject | collision avoidance | en |
| dc.subject | optimization | en |
| dc.title | 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 | zh_TW |
| dc.title | Collision-Free Formation Control of Input Constrained Multi-Agent Systems using Time-Varying Control Barrier Functions | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 113-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 練光祐;簡忠漢;連豊力;江明理 | zh_TW |
| dc.contributor.oralexamcommittee | Kuang-Yow Lian;Jong-Hann Jean;Feng-Li Lian;Ming-Li Chiang | en |
| dc.subject.keyword | 編隊控制,防碰撞控制,受限控制,控制屏障函數,最佳化, | zh_TW |
| dc.subject.keyword | formation control,collision avoidance,constrained control,control barrier function,optimization, | en |
| dc.relation.page | 55 | - |
| dc.identifier.doi | 10.6342/NTU202503665 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2025-08-11 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 電機工程學系 | - |
| dc.date.embargo-lift | N/A | - |
| 顯示於系所單位： | 電機工程學系 | |
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