NDLI: Formation control with collision avoidance for uncertain networked Lagrangian systems via adaptive gain techniques

Content Provider	IET Digital Library
Author	Yu, Jinwei Ji, Jinchen Miao, Zhonghua Zhou, Jin
Abstract	This study addresses the problem of formation control with collision avoidance for networked Lagrangian systems with uncertain parameters interacting on directed network communication topologies. Two adaptive formation control strategies with collision avoidance are proposed by making use of adaptive gain techniques for both cases of with and without a dynamic leader. The main objective of the proposed control strategies is to dispatch a group of agents to maintain a desired geometric pattern, while still guarantee collision avoidance at any time, and eventually to achieve velocity matching. A distinctive feature of the developed adaptive gain is to adapt itself duly based on both the network communication topology and collision avoidance constraints, so it is feasible to be implemented in practice. Some general criteria are derived to guarantee that the desired formation with collision avoidance for the networked Lagrangian systems can be achieved. Finally, numerical simulations are given to show the performance of the proposed control methodologies.
Starting Page	1393
Ending Page	1401
Page Count	9
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 10, Jul (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.1065
Journal	IET Control Theory & Applications
Publisher Date	2018-03-06
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Formation Control Strategy Adaptive Gain Technique Collision Avoidance Control System Analysis Control System Synthesis Directed Network Communication Topology Dynamic Leader Geometric Pattern Mobile Robots Multi-robot System Numerical Simulation Self Adjusting Control System Spatial Variables Control Synthesis Method Uncertain Networked Lagrangian System Uncertain System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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