Formation-containment control of networked collision-free Lagrangian systems

Dongyu Li; Shuzhi Sam Ge; Guangfu Ma; Wei He; Jie Mei; Wei Zhang

doi:10.1002/rnc.4885

Formation-containment control of networked collision-free Lagrangian systems

Dongyu Li
, Shuzhi Sam Ge^*
, Guangfu Ma
, Wei He
, Jie Mei
, Wei Zhang

^*Corresponding author for this work

Harbin Institute of Technology
National University of Singapore
University of Science and Technology Beijing
Shanghai Institute of Satellite Engineering

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	2399-2412
Number of pages	14
Journal	International Journal of Robust and Nonlinear Control
Volume	30
Issue number	6
DOIs	https://doi.org/10.1002/rnc.4885
State	Published - 1 Apr 2020
Externally published	Yes

Keywords

Euler-Lagrange systems
collision avoidance
formation control
output feedback control

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10.1002/rnc.4885

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title = "Formation-containment control of networked collision-free Lagrangian systems",

abstract = "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.",

keywords = "Euler-Lagrange systems, collision avoidance, formation control, output feedback control",

author = "Dongyu Li and \{Sam Ge\}, Shuzhi and Guangfu Ma and Wei He and Jie Mei and Wei Zhang",

note = "Publisher Copyright: {\textcopyright} 2020 John Wiley \& Sons, Ltd.",

year = "2020",

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doi = "10.1002/rnc.4885",

language = "英语",

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T1 - Formation-containment control of networked collision-free Lagrangian systems

AU - Li, Dongyu

AU - Sam Ge, Shuzhi

AU - Ma, Guangfu

AU - He, Wei

AU - Mei, Jie

AU - Zhang, Wei

PY - 2020/4/1

Y1 - 2020/4/1

N2 - 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.

AB - 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.

KW - Euler-Lagrange systems

KW - collision avoidance

KW - formation control

KW - output feedback control

UR - https://www.scopus.com/pages/publications/85079443440

U2 - 10.1002/rnc.4885

DO - 10.1002/rnc.4885

M3 - 文章

AN - SCOPUS:85079443440

SN - 1049-8923

VL - 30

SP - 2399

EP - 2412

JO - International Journal of Robust and Nonlinear Control

JF - International Journal of Robust and Nonlinear Control

IS - 6

ER -

Formation-containment control of networked collision-free Lagrangian systems

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Keywords

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