Formation Control with Collision Avoidance: Adaptive Sliding Mode Approach

This paper introduces a formation control framework for a double integrator multi-agent system (MAS) utilizing adaptive sliding mode control (SMC) integrated with a collision avoidance strategy. To prevent inter-agent collisions, the artificial potential function is employed, leveraging inter-agent positions and predefined safe and avoidance zones. A new sliding surface is defined to enhance tracking performance while incorporating collision avoidance functionalities. Additionally, a proportional reaching law-based control scheme is devised to expedite the convergence of sliding trajectories. The asymptotic stability of the tracking error system is demonstrated through Lyapunov analysis. A numerical calculation has been performed to evaluate the performance of SMC and adaptive SMC based on different indices. MATLAB simulation results are presented to illustrate the effectiveness of the proposed controller design.