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Safety-critical formation control of switching uncertain Euler-Lagrange systems with control barrier functions

Author

Listed:
  • Wang, Anqing
  • Ju, Lei
  • Liu, Lu
  • Wang, Haoliang
  • Gu, Nan
  • Peng, Zhouhua
  • Wang, Dan

Abstract

This paper investigates the safety-critical formation control problem with disturbance rejection for switching uncertain EL MASs in the presence of multiple stationary/moving obstacles. A safety-critical control method is proposed for achieving a collision-free formation for a group of EL systems subject to safety constraints, model uncertainties, and external disturbances. Specifically, a distributed adaptive nominal control law is designed to accomplish the formation control task. Then, based on ISSf-CBF derived safety constraints, a distributed quadratic programming problem is established for computing the optimal control input subject to safety constraints. The safety and stability of the closed-loop control system have been demonstrated. Finally, one exemplary application to safety-critical formation control of some practical multiple mechanical systems is provided to illustrate the effectiveness of the main result.

Suggested Citation

  • Wang, Anqing & Ju, Lei & Liu, Lu & Wang, Haoliang & Gu, Nan & Peng, Zhouhua & Wang, Dan, 2024. "Safety-critical formation control of switching uncertain Euler-Lagrange systems with control barrier functions," Applied Mathematics and Computation, Elsevier, vol. 479(C).
    • Handle: RePEc:eee:apmaco:v:479:y:2024:i:c:s0096300324003217
    DOI: 10.1016/j.amc.2024.128860
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    References listed on IDEAS

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    1. Hao, Li-Ying & Zhang, Yu-Qing & Li, Hui, 2021. "Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles," Applied Mathematics and Computation, Elsevier, vol. 401(C).
    2. Guo, Xinchen & Wei, Guoliang, 2023. "Distributed sliding mode consensus control for multiple discrete-Time Euler-Lagrange systems," Applied Mathematics and Computation, Elsevier, vol. 446(C).
    3. Hou, Rui & Cui, Lizhi & Bu, Xuhui & Yang, Junqi, 2021. "Distributed formation control for multiple non-holonomic wheeled mobile robots with velocity constraint by using improved data-driven iterative learning," Applied Mathematics and Computation, Elsevier, vol. 395(C).
    4. Li, Ping & Song, Zhibao & Wang, Zhen & Liu, Wenhui, 2020. "Fixed-time consensus for disturbed multiple Euler-Lagrange systems with connectivity preservation and quantized input," Applied Mathematics and Computation, Elsevier, vol. 380(C).
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