This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where the agents are expected to attain the desired formation while reaching the target region and simultaneously ensuring collision and obstacle avoidance. To tackle this control problem, we break it down into two distinct objectives: safety and region formation control, to provide a completely distributed algorithm. Region formation control is modeled as a high-level abstract objective, whereas safety and actuator saturation are modeled as a low-level objective designed independently, without any knowledge of the former, and being minimally invasive. Our approach incorporates connectivity preservation, actuator saturation, safety considerations, and absence of velocity measurement from other agents with second-order system dynamics which are important constraints in practical applications. Both internal safety for collision avoidance among agents and external safety for avoiding unsafe regions are ensured using exponential control barrier functions. We provide theoretical results for asymptotic convergence and numerical simulation to show the approach’s effectiveness.

中文翻译：

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带速度跟踪的安全区域多智能体编队控制

本文为无速度测量的二阶多智能体系统的参考速度跟踪安全区域形成控制问题提供了一种解决方案。安全区域编队控制是一个控制问题，其中智能体期望在到达目标区域时达到所需的编队，同时确保碰撞和避障。为了解决这个控制问题，我们将其分解为两个不同的目标：安全性和区域形成控制，以提供完全分布式的算法。区域形成控制被建模为高级抽象目标，而安全性和执行器饱和被建模为独立设计的低级目标，无需对前者的任何了解，并且是微创的。我们的方法结合了连接保持、执行器饱和、安全考虑以及缺乏其他具有二阶系统动力学的代理的速度测量，这些是实际应用中的重要限制。使用指数控制屏障函数来确保代理之间避免碰撞的内部安全和避免不安全区域的外部安全。我们提供渐近收敛和数值模拟的理论结果，以证明该方法的有效性。