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13 May 2024 Event-triggered control for obstacle avoidance in second-order nonlinear multi-agent systems with directed graph
Zhipeng Zhu, Zhao Zhang, Chenyu Wang, Hongyan Zhou
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Proceedings Volume 13159, Eighth International Conference on Energy System, Electricity, and Power (ESEP 2023); 131599O (2024) https://doi.org/10.1117/12.3024410
Event: Eighth International Conference on Energy System, Electricity and Power (ESEP 2023), 2023, Wuhan, China
Abstract
In this paper, we study the obstacle avoidance problem of second-order nonlinear multi-agent systems (MASs) with directed graph based on event-triggered control. Firstly, the consensus requirement is accomplished by using the eventtriggered consensus algorithm, and experiments are given for verification. Secondly, an improved artificial potential field (IAPF) method is proposed to solve the obstacle avoidance problem, and comparison experiments are made, from which the experimental results show that the IAPF method is significantly better than the traditional artificial potential field (TAPF) method under the same conditions.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Zhipeng Zhu, Zhao Zhang, Chenyu Wang, and Hongyan Zhou "Event-triggered control for obstacle avoidance in second-order nonlinear multi-agent systems with directed graph", Proc. SPIE 13159, Eighth International Conference on Energy System, Electricity, and Power (ESEP 2023), 131599O (13 May 2024); https://doi.org/10.1117/12.3024410
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KEYWORDS
Control systems
Complex systems
Matrices
Simulations
Artificial intelligence
Design
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