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

Anqing Wang, Lei Ju, Lu Liu, Haoliang Wang, Nan Gu, Zhouhua Peng and Dan Wang

Applied Mathematics and Computation, 2024, vol. 479, issue C

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.

Keywords: Uncertain Euler-Lagrange (EL) system; Control barrier functions (CBFs); Safety-critical formation; Multi-agent systems; Switching network (search for similar items in EconPapers)
Date: 2024
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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:479:y:2024:i:c:s0096300324003217

DOI: 10.1016/j.amc.2024.128860

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