Safe and Stable Formation Control with Distributed Multi-Agents Using Adaptive Control and Control Barrier Functions
<|reference_start|>Safe and Stable Formation Control with Distributed Multi-Agents Using Adaptive Control and Control Barrier Functions: 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.<|reference_end|>
@article{solano-castellanos2024safe,
    title={Safe and Stable Formation Control with Distributed Multi-Agents Using
  Adaptive Control and Control Barrier Functions},
    author={Jose A. Solano-Castellanos, Peter A. Fisher, Anuradha Annaswamy},
    journal={arXiv preprint arXiv:2403.15674},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.15674},
    primaryClass={eess.SY cs.SY}
}