Formation control of multiple Euler-Lagrange systems via null-space-based behavioral control

This paper addresses the formation control problem of multiple Euler-Lagrange systems with model uncertainties in the environment containing obstacles. Utilizing the null-space-based （NSB） behavioral control architecture, the proposed problem can be decomposed into elementary missions （behaviors） wi...

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Bibliographic Details
Published inScience China. Information sciences Vol. 59; no. 1; pp. 16 - 26
Main Authors Chen, Jie, Gan, Minggang, Huang, Jie, Dou, Lihua, Fang, Hao
Format Journal Article
LanguageEnglish
Published Beijing Science China Press 01.01.2016
Springer Nature B.V
Subjects
Algorithms
Closed loops
Computer Science
Control systems
Information Systems and Communication Service
Multiagent systems
Obstacle avoidance
Research Paper
Sliding mode control
Uncertainty
下线
服务
迁移
壁障
obstacle avoidance
model uncertainty
Euler-Lagrange system
behavioral control
010202
欧拉-拉格朗日系统
模型不确定
行为控制
编队控制
formation control
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Summary:This paper addresses the formation control problem of multiple Euler-Lagrange systems with model uncertainties in the environment containing obstacles. Utilizing the null-space-based （NSB） behavioral control architecture, the proposed problem can be decomposed into elementary missions （behaviors） with different priorities and implemented by each individual system. A class of novel coordination control algorithms is constructed and utilized to achieve accurate formation task while avoiding obstacles and guaranteeing the model uncertainty rejection objective. By using sliding mode control and Lyapunov theory, the formation performance in closed-loop multi-agent systems is proven achievable if the state-dependent gain of the obstacle avoidance mission is appropriately designed. Finally, simulation examples demonstrate the effectiveness of the algorithms.
Bibliography:11-5847/TP
formation control, obstacle avoidance, Euler-Lagrange system, model uncertainty, behavioral con-trol
This paper addresses the formation control problem of multiple Euler-Lagrange systems with model uncertainties in the environment containing obstacles. Utilizing the null-space-based （NSB） behavioral control architecture, the proposed problem can be decomposed into elementary missions （behaviors） with different priorities and implemented by each individual system. A class of novel coordination control algorithms is constructed and utilized to achieve accurate formation task while avoiding obstacles and guaranteeing the model uncertainty rejection objective. By using sliding mode control and Lyapunov theory, the formation performance in closed-loop multi-agent systems is proven achievable if the state-dependent gain of the obstacle avoidance mission is appropriately designed. Finally, simulation examples demonstrate the effectiveness of the algorithms.
ISSN:1674-733X
1869-1919
DOI:10.1007/s11432-015-5504-6