Decentralized formation with collision avoidance of multi‐agent conformable fractional nonlinear robot systems

Abstract

Abstract The formation control problem for a multi‐agent robot system is addressed from the general conformable fractional multi‐variable framework viewpoint, considering interagent collision avoidance based on the combination of local attractive and repulsive potential functions for general well‐defined formation graphs for the case of point or omnidirectional robots by using the classical Lyapunov's stability analysis. The theoretical development of a control law from the viewpoint of the multivariable conformable fractional‐order calculus is given. In addition, a comparison of the convergence performance to the desired pattern with collision avoidance between the integer‐order and the general conformable fractional‐order case is provided. Finally, an illustrative numerical example is given to exhibit the performance of the proposed strategy.