A consensus problem of multi-agent system subject to the communication delay with fixed and switching topologies as well as optimal obstacle avoidance is investigated. An innovative non-quadratic obstacle avoidance cost function is designed from an inverse optimal control perspective and a novel dynamic potential field whose vectors are rotating around the obstacle is introduced to avoid obstacles. The asymptotic stability condition of dynamical networks based on the Lyapunov-Krasovskii function is obtained via a linear matrix inequality (LMI) formulation. Finally, numerical examples are presented to show the effectiveness of the proposed theoretical results.

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lyapunovkrasovskii function inverse optimal control asymptotic stability condition fixed and switching topologies dynamic potential field consensus problem of multiagent system communication delay dynamical networks results linear matrix inequality lmi nonquadratic obstacle avoidance cost function

Chunsheng Liu,Jingliang Sun,.Optimal obstacle avoidance via distributed consensus algorithms with communication delay. 27 (6),1272-1282.

Chunsheng Liu,Jingliang Sun,"Optimal obstacle avoidance via distributed consensus algorithms with communication delay" 27

Chunsheng Liu,Jingliang Sun,"Optimal obstacle avoidance via distributed consensus algorithms with communication delay"