Work

Affine Formation Obstacle Avoidance Control for Multi‐Agent Systems Under an Improved Disturbance Observer

Year: 2026

Type: article

Abstract: ABSTRACT The paper addresses affine formation obstacle avoidance control of multi‐agent systems (MASs) with unknown external disturbances. An improved disturbance observer is developed to enhance the estimation accuracy. An affine transformation and an adaptive controller are exploited to dynamically adjust formation against unknown obstructed environments. Sufficient criteria are established to achieve obstacle avoidance with zero velocity, constant velocity, and time‐varying velocity, respectively. Finally, two examples are simulated to deliver the effectiveness of the proposed control schemes.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70398

Authors: Wen Qin, Mouquan Shen, Hamid Reza Karimi, Zheng Hong Zhu

Institutions: Nanjing Tech University, Politecnico di Milano, York University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, Government of Jiangsu Province, Natural Science Foundation of Jiangsu Province, Natural Sciences and Engineering Research Council of Canada