Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges
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NOTICE: this is the author’s version of a work that was accepted for publication in Systems and Control Letters. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Systems and Control Letters, Vol. 61, no.1 (2012). DOI: 10.1016/j.sysconle.2011.10.018
This paper contributes a design of cooperative controllers that force N mobile agents with an ellipsoidal shape and a limited sensing range to track desired trajectories and to avoid collision between them. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise collision avoidance functions to design coordination controllers. The proposed control design guarantees (1) smooth coordination controllers despite the agents’ limited sensing ranges, (2) no collision between any agents, (3) asymptotical stability of desired equilibrium set, and (4) instability of all other undesired critical sets of the closed loop system.
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