Leader-follower and Leaderless Bipartite Formation-consensus over Undirected Coopetition Networks and under Proximity and Collision-avoidance Constraints - Pôle Systèmes
Article Dans Une Revue International Journal of Control Année : 2023

Leader-follower and Leaderless Bipartite Formation-consensus over Undirected Coopetition Networks and under Proximity and Collision-avoidance Constraints

Résumé

We propose a method to control networks involving both cooperative and competitive interactions simultaneously under proximity and collision-avoidance constraints. The control design is of gradient type, using a barrier-Lyapunov function. Then, under the assumption that the network is undirected and structurally balanced, we establish asymptotic stability of the leaderless and leader-follower bipartite formation-consensus manifold. We assume that the agents are modeled by secondorder integrators, but we also demonstrate the utility of our theoretical findings via numerical simulations on a problem of formation-consensus control of nonholonomic vehicles.
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Dates et versions

hal-04298252 , version 1 (21-11-2023)
hal-04298252 , version 2 (24-09-2024)

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Pelin Şekercioğlu, Ioannis Sarras, Antonio Loría, Elena Panteley, Julien Marzat. Leader-follower and Leaderless Bipartite Formation-consensus over Undirected Coopetition Networks and under Proximity and Collision-avoidance Constraints. International Journal of Control, 2023, pp.1-15. ⟨10.1080/00207179.2024.2354845⟩. ⟨hal-04298252v2⟩
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