This article investigates the collision-free cooperative formation control problem for second-order multiagent systems with unknown velocity, dynamics uncertainties, and limited reference information. An observer-based sliding mode control law is proposed to ensure both the convergence of the system’s tracking error and the boundedness of the relative distance between each pair of agents. First, two new finite-time neural-based observer designs are introduced to estimate both the agent velocity and the system uncertainty. The sliding mode differentiator is then employed for every agent to approximate the unknown derivatives of the formation reference to further construct the limited-information-based sliding mode controller. To ensure that the system is collision-free, artificial potential fields are introduced along with a time-varying topology. An example of a multiple omnidirectional robot system is used to conduct numerical simulations, and necessary comparisons are made to justify the effectiveness of the proposed limited-information-based control scheme.

中文翻译：

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信息有限的多智能体系统的鲁棒无碰撞编队控制

本文研究了具有未知速度、动力学不确定性和有限参考信息的二阶多智能体系统的无碰撞协作编队控制问题。提出了基于观测器的滑模控制律，以确保系统跟踪误差的收敛和每对智能体之间相对距离的有界性。首先，引入两种新的基于神经的有限时间观测器设计来估计代理速度和系统不确定性。然后，每个智能体采用滑模微分器来逼近编队参考的未知导数，以进一步构造基于有限信息的滑模控制器。为了确保系统无碰撞，引入了人工势场以及时变拓扑。以多全向机器人系统为例进行数值模拟，并进行必要的比较以证明所提出的基于有限信息的控制方案的有效性。