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Safe and Stable Formation Control with Distributed Multi-Agents Using Adaptive Control and Control Barrier Functions (2403.15674v2)

Published 23 Mar 2024 in eess.SY and cs.SY

Abstract: This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an integrative approach that combines Control Barrier Functions, Adaptive Control, and connected graphs. A reference model is designed so as to ensure a safe and stable formation control strategy. This is combined with a provably correct adaptive control design that includes the use of a CBF-based safety filter that suitably generates safe reference commands. Numerical examples are provided to support the theoretical derivations.

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