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The distributed cooperative control of reconfigurable swarm in unit modalities under nested motion saturation and environmental safety constraints is addressed in this chapter. An adaptive smooth safety-cooperative method is proposed. By incorporating dynamic safety barriers and low-trigger potential fields, formation safety is ensured in obstacle-rich environments. An adaptive auxiliary dynamic system is introduced to suppress saturation-induced oscillations. A distributed coordination controller is designed, and both simulations and experiments validate the safety and robustness of the proposed method.

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Unit Modality Coordination Control Under Environmental Constraints

  • 章节

  • 发表日期：

    2025年

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  • Tao Jiang,
  • Zhi Zheng,
  • Lan Yao,
  • Jianchuan Ye,
  • Jianxiang Wang,
  • Jingxiang Feng

摘要

The distributed cooperative control of reconfigurable swarm in unit modalities under nested motion saturation and environmental safety constraints is addressed in this chapter. An adaptive smooth safety-cooperative method is proposed. By incorporating dynamic safety barriers and low-trigger potential fields, formation safety is ensured in obstacle-rich environments. An adaptive auxiliary dynamic system is introduced to suppress saturation-induced oscillations. A distributed coordination controller is designed, and both simulations and experiments validate the safety and robustness of the proposed method.