КФУ. Карточка публикации. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance

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ADAPTIVE MULTI-AGENT COVERAGE CONTROL WITH OBSTACLE AVOIDANCE

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2022

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Bai Y. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance / Wang Y., Svinin M., Magid E., Sun R. // IEEE Control Systems Letters. - 2022. - Vol. 6. - p. 944-949.

Аннотация

This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations.

Ключевые слова

Adaptive control, uncertain systems, cooperative control

Название журнала

IEEE Control Systems Letters

URL

https://ieeexplore.ieee.org/document/9448334

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Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2022-01-01T00:00:00Z	ru_RU
dc.date.available	2022-01-01T00:00:00Z	ru_RU
dc.date.issued	2022	ru_RU
dc.identifier.citation	Bai Y. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance / Wang Y., Svinin M., Magid E., Sun R. // IEEE Control Systems Letters. - 2022. - Vol. 6. - p. 944-949.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=257409	ru_RU
dc.description.abstract	IEEE Control Systems Letters	ru_RU
dc.description.abstract	This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Adaptive control	ru_RU
dc.subject	uncertain systems	ru_RU
dc.subject	cooperative control	ru_RU
dc.title	Adaptive Multi-Agent Coverage Control With Obstacle Avoidance	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU