Null-Space-Based Prescribed-Time Formation Control With Collision and Obstacle Avoidance

Authors

• Qiang Xiao, Huazhong University of Science and Technology
• Shun Yang, Huazhong University of Science and Technology
• Zhigang Zeng, Huazhong University of Science and Technology
• Tingwen Huang, Shenzhen University of Advanced Technology
• Nikhil Ranjan Pal, Techno India University, West Bengal

Article Type

Research Article

Publication Title

IEEE Transactions on Control of Network Systems

Abstract

This article studies the distributed prescribed-time formation tracking control for nonlinear second-order multiagent systems with collision risk in a null-space-based behavioral control architecture. First, a simplified distributed observer is designed to accurately estimate the position information of a virtual leader within a prescribed time. In addition, we introduce a switching mechanism and potential-like terms to design the desired states that can simultaneously achieve obstacle avoidance and formation. Subsequently, a sliding-mode formation control scheme is proposed to track the desired trajectory generated by the null-space projection between behaviors. Utilizing Lyapunov stability theory, theoretical results for task design and trajectory tracking are obtained. Finally, numerical simulation verifies the effectiveness and superiority of the proposed method.

First Page

3003

Last Page

3014

DOI

10.1109/TCNS.2025.3605111

Publication Date

1-1-2025

Recommended Citation

Xiao, Qiang; Yang, Shun; Zeng, Zhigang; Huang, Tingwen; and Pal, Nikhil Ranjan, "Null-Space-Based Prescribed-Time Formation Control With Collision and Obstacle Avoidance" (2025). Journal Articles. 5482.
https://digitalcommons.isical.ac.in/journal-articles/5482