Cooperative Control Design for Multi-agent System Inspection on Power Substations

In this paper, we proposed a formation control strategy for multi-agent systems on power substation inspection. In order to achieve safe and efficient control, a leader-follower coordinating framework is utilized to cope with real-world communication constraints. A tracking-avoiding-scaling controller has been designed with event-trigger control protocols. A variant of the artificial potential field method has been derived with more effective usage of real-world sensor data. A cartesian scaling factor adaptive control method has been proposed to cope with environmental changes. Lastly, we analyzed the system stability and gave demonstrations in simulated substation environments.