Multi-objective control for multi-agent systems using Lyapunov-like barrier functions.

Abstract

This paper addresses the problem of multi-agent coordination and control under multiple objectives, and presents a set-theoretic formulation which is amenable to Lyapunov-based analysis and control design. A novel class of Lyapunov-like barrier functions is introduced and used to encode multiple, non-trivial control objectives, such as collision avoidance, proximity maintenance and convergence to desired destinations. The construction is based on the concept of recentered barrier functions and on approximation functions. A single Lyapunov-like function encodes the constrained set of each agent, yielding simple, closed-form control solutions. The proposed construction allows also for distributed control design based on information locally available to each agent. The scenario considered here involves nonholonomic vehicles, while simulation results demonstrate the efficacy of the approach.

Bib

@inproceedings{DBLP:conf/cdc/PanagouSV13,
  author       = {Dimitra Panagou and
                  Dusan M. Stipanovic and
                  Petros G. Voulgaris},
  title        = {Multi-objective control for multi-agent systems using Lyapunov-like
                  barrier functions},
  booktitle    = {Proceedings of the 52nd {IEEE} Conference on Decision and Control,
                  {CDC} 2013, Florence, Italy, December 10-13, 2013},
  pages        = {1478--1483},
  publisher    = {{IEEE}},
  year         = {2013},
  url          = {https://doi.org/10.1109/CDC.2013.6760091},
  doi          = {10.1109/CDC.2013.6760091},
  timestamp    = {Tue, 21 Mar 2023 20:52:20 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/PanagouSV13.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}