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

基于零空间行为控制方法的欧拉-拉格朗日群体系统编队控制

Abstract

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.

创新点

本文研究了在具有模型不确定的欧拉-拉格朗日群体系统在带有障碍物环境条件下的编队控制问题。利用基于零空间行为控制理论,依据子任务的优先级将总编队任务分解为若干个子任务元素。构建了一套新颖的协同控制算法,用于实现精确的编队任务,并保证了有效的壁障。并且有效处理了模型不确定性对编队实现的影响。本文利用滑模控制和李雅普诺夫稳定性分析理论,证明了多智能体系统及编队任务的稳定性。最后,仿真验证了所提算法的有效性。

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Author information

Correspondence to Minggang Gan or Jie Huang.

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Cite this article

Chen, J., Gan, M., Huang, J. et al. Formation control of multiple Euler-Lagrange systems via null-space-based behavioral control. Sci. China Inf. Sci. 59, 1–11 (2016). https://doi.org/10.1007/s11432-015-5504-6

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Keywords

  • formation control
  • obstacle avoidance
  • Euler-Lagrange system
  • model uncertainty
  • behavioral control
  • 010202

关键词

  • 编队控制
  • 壁障
  • 欧拉-拉格朗日系统
  • 模型不确定
  • 行为控制