Adaptive flexible performance function approach for dynamic obstacle avoidance to distributed formation tracking of range‐constrained switched nonlinear multiagent systems

Abstract

AbstractPrescribed performance control allows preselected transient and steady‐state bounds of formation control performance. However, owing to the predetermined decaying property of performance functions, it is unavailable for the formation tracking problem with dynamic obstacle avoidance. Thus, it is essential to design a flexible performance function to accommodate the increasing formation error during dynamic obstacle avoidance. This article pays attention to the development of an adaptive flexible performance (AFP) function usable for the avoidance of dynamic obstacles with unknown velocities in the distributed formation framework. We develop an AFP‐based distributed formation tracker design for range‐constrained switched multi‐input multi‐output nonlinear multiagent systems with asynchronous switching. The AFP functions for ensuring graph connectivity and dynamic obstacle avoidance are derived by designing time‐varying variables adjusted by an adaptive relaxation signal. The neural‐network‐based adaptive distributed formation tracker using the derived performance functions is constructed with the adaptive relaxation signal to ensure the stability of the closed‐loop formation system, regardless of asynchronous switching and dynamic obstacles. The effectiveness of the proposed method is shown by simulation results.