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author:

Xue, Wenyan (Xue, Wenyan.) [1] | Zhan, Siyuan (Zhan, Siyuan.) [2] | Wu, Zhihong (Wu, Zhihong.) [3] | Chen, Yutao (Chen, Yutao.) [4] (Scholars:陈宇韬) | Huang, Jie (Huang, Jie.) [5] (Scholars:黄捷)

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EI Scopus SCIE

Abstract:

This paper proposes a novel robust differential game scheme to solve the collision avoidance problem for networked multi-agent systems (MASs), subject to linear dynamics, external disturbances and limited observation capabilities. Compared with the existing differential game approaches only con-sidering obstacle avoidance objectives, we explicitly incorporate the trajectory optimization target by penalizing the deviation from reference trajectories, based on the artificial potential field (APF) concept. It is proved that the strategies of each agent defined by individual optimization problems will converge to a local robust Nash equilibrium (R-NE), which further, with a fixed strong connection topology, will converge to the global R-NE. Additionally, to cope with the limited observation for MASs, local robust feedback control strategies are constructed based on the best approximate cost function and distributed robust Hamilton-Jacobi-Isaacs (DR-HJI) equations, which does not require global information of agents as in the traditional Riccati equation form. The feedback gains of the control strategies are found via the ant colony optimization (ACO) algorithm with a non-dominant sorting structure with convergence guarantees. Finally, simulation results are provided to verify the efficacy and robustness of the novel scheme. The agents arrived at the targeted position collision-free with a reduced arrival time, and reached the targeted positions under disturbance.(c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

Keyword:

Collision avoidance Limited observation Multi-agent systems Robust differential game Trajectory optimization

Community:

  • [ 1 ] [Xue, Wenyan]Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 2 ] [Wu, Zhihong]Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 3 ] [Chen, Yutao]Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 4 ] [Huang, Jie]Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 5 ] [Xue, Wenyan]Fuzhou Univ, Inst Ind Internet 5G, Fuzhou 350108, Peoples R China
  • [ 6 ] [Wu, Zhihong]Fuzhou Univ, Inst Ind Internet 5G, Fuzhou 350108, Peoples R China
  • [ 7 ] [Chen, Yutao]Fuzhou Univ, Inst Ind Internet 5G, Fuzhou 350108, Peoples R China
  • [ 8 ] [Huang, Jie]Fuzhou Univ, Inst Ind Internet 5G, Fuzhou 350108, Peoples R China
  • [ 9 ] [Zhan, Siyuan]Maynooth Univ, Dept Elect Engn, Maynooth W23F2K8, Ireland

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Source :

ISA TRANSACTIONS

ISSN: 0019-0578

Year: 2023

Volume: 134

Page: 95-107

6 . 3

JCR@2023

6 . 3 0 0

JCR@2023

ESI Discipline: ENGINEERING;

ESI HC Threshold:35

JCR Journal Grade:1

CAS Journal Grade:1

Cited Count:

WoS CC Cited Count: 4

SCOPUS Cited Count: 5

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

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