Formation‐containment control of networked collision‐free Lagrangian systems
Dongyu Li, Shuzhi Sam Ge, Guangfu Ma, Wei He, Jie Mei, Wei Zhang
Abstract
Summary The distributed formation‐containment (DFC) problem under a directed graph is addressed for networked Euler‐Lagrange systems. First, using a leader‐follower framework, the DFC problem is properly defined. For the leaders and the followers, respectively, a DFC control law is next proposed without using velocity information. Based on the artificial potential function, all the agents can achieve the control objective satisfactorily while avoiding collisions with others as well as the obstacles in the environment. By the Lyapunov stability theory, the boundedness of the error signals is guaranteed. Simulations are finally given to show the feasibility of this approach.
Topics & Concepts
Containment (computer programming)Lyapunov functionControl theory (sociology)LagrangianComputer scienceGraphCollisionStability (learning theory)Function (biology)Control (management)Lyapunov stabilityCollision avoidanceStability theoryMathematicsApplied mathematicsTheoretical computer scienceArtificial intelligenceNonlinear systemBiologyMachine learningProgramming languagePhysicsQuantum mechanicsEvolutionary biologyComputer securityDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationMathematical and Theoretical Epidemiology and Ecology Models