针对多智能体系统在形成编队的过程中存在相互碰撞、通信中断和外部干扰的问题, 考虑了具有避碰和保持系统连通的二阶非线性多智能体鲁棒编队控制问题。基于人工势场法设计了具有保持系统连通的多智能体避碰算法, 并利用分布式控制法和共识理论设计了多智能体鲁棒编队控制律, 从而使得多智能体系统准确地实现编队, 避免碰撞和保持系统连通。利用李雅普诺夫稳定性理论和线性矩阵不等式证明了系统的稳定性和跟踪误差的收敛性。通过数值仿真实例验证了所提编队控制律的有效性。

In order to solve the problems of collision, communication interruption and external disturbances during formation forming of Multi-Agent Systems (MASs), the robust formation control with collision avoidance and connection preservation for nonlinear second-order MASs is studied.Based on the Artificial Potential Field (APF) method, the collision avoidance algorithm is designed, which can maintain connections among agents, and distributed control law and consensus theory are employed to design the robust formation control law of the MASs, so that accurate formation forming with collision avoidance and connection preservation of the MASs is realized.Lyapunov stability theory and Linear Matrix Inequality (LMI) are used to guarantee the stability of the MASs and the convergence of tracking errors.The effectiveness of the proposed formation control law is demonstrated by numerical simulations.