MADS-Based Formation Obstacle Avoidance Control for Multiagent Systems With Escaping Local Minima

This article studies the problem of optimized formation control and obstacle avoidance in high-order nonlinear multiagent systems (MASs). A multiplicative-additive dynamical systems (MADS)-based method is devised to achieve obstacle avoidance. In contrast to existing results, the proposed MADS-based method can circumvent the problem of getting stuck in local minima and ensure that the velocity magnitude of agents remains constant before and after modulation. An optimized control method is designed to balance control effectiveness and energy consumption. With the use of command filters and auxiliary functions, the proposed optimized asymptotic tracking control method can ensure that the tracking errors and velocity errors asymptotically converge to zero. Compared to existing results, the proposed MADS-based method and tracking control method are more general and suitable for high-order nonlinear MASs. Finally, simulation examples are presented to demonstrate the feasibility of the proposed method.