Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems
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Abstract
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while effectively managing collision and obstacle avoidance using potential functions. By integrating neural network-based disturbance estimation and adaptive tuning laws, the proposed strategy ensures consensus and stability in leader-following formations under fixed topologies.Keywords
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