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Formation‐containment control of networked collision‐free Lagrangian systems
Author(s) -
Li Dongyu,
Sam Ge Shuzhi,
Ma Guangfu,
He Wei,
Mei Jie,
Zhang Wei
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4885
Subject(s) - containment (computer programming) , lyapunov function , control theory (sociology) , lagrangian , computer science , graph , collision , stability (learning theory) , function (biology) , control (management) , lyapunov stability , collision avoidance , stability theory , mathematics , theoretical computer science , artificial intelligence , nonlinear system , physics , computer security , quantum mechanics , machine learning , programming language , evolutionary biology , biology
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.