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Optimal Formation Control for Second-Order Multi-Agent Systems With Obstacle Avoidance
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DOI：10.1109/JAS.2023.123249.png)
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Dear Editor, The optimal formation control design problem is studied for a class of second-order multi-agent systems (MASs) with obstacle avoidance. Based on the actor-critic framework, an optimized formation controller is proposed by constructing a novel performance index function. Furthermore, the stability of MAS is proved by constructing the Lyapunov function. The simulation results are provided to depict the effectiveness of the proposed strategies.
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