Neuro-Adaptive Time-Varying Formation Control with Collision Avoidance for Nonlinear Multiagent Systems with Unknown Control Directions

Aiming at the nonlinear multiagent systems with unknown control directions, the time-varying formation control problem with obstacle avoidance is studied. Multiple coupled Nussbaum functions are constructed to deal with the unknown conrol directions of nonlinear multiagent systems. Combining artificial potential function with dynamic surface control technology, a novel neuro-adaptive control method is proposed to realize time-varying formation, which can effectively avoid obstacles encountered without collision between agent individuals. The bounded stability of the closed-loop system is proved by Lyapunov stability theory, and the formation tracking error converges to a small neighborhood of zero. Finally, simulation results are given to verify the effectiveness of the proposed time-varying formation control method for the nonlinear multiagent systems with unknown control directions.