Globally stable adaptive formation control of Euler-Lagrange agents via potential functions

Authors:
Ademir Rodrigues Pereira;Liu Hsu;Romeo Ortega
Affiliations:
Technological Center of the Brazilian Army, Rio de Janeiro, Brazil;Department of Electrical Engineering, COPPE, Fed. Univ. of Rio de Janeiro, Brazil;Laboratoire de Signaux et Systemes of Supelec, Centre National de la Recherche Scientifique, Gif-sur-Yvette, France
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
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Abstract

This paper proposes a formation control strategy for uncertain Euler-Lagrange mobile agents based on artificial potential functions and robust adaptive control. A desired kinematic model is derived from a given potential function. The system parametric uncertainties and external disturbances are compensated by a robust adaptive control algorithm named binary adaptive control which combines the good transient properties and robustness of Sliding Mode Control with the desirable steady-state properties of parameter adaptive systems. For a given communication graph, conditions for global stability of the multiagent system are established using a conveniently shaped Lyapunov function for centralized and partially decentralized control schemes.