オイラー・ラグランジュ系に対する衝突回避ベアリング駆動型フォーメーション追従
Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems
複数の移動リーダーを持つ異種オイラー・ラグランジュ系に対し、ベアリング情報と適応機構を用いてパラメータ不確かさ下でも衝突を避けつつ目標フォーメーションへ追従させる分散制御則を提案した論文。
著者: Haoshu Cheng, Martin Guay, Shimin Wang, Yunhong Che
分類: eess.SY, cs.RO, cs.SY, math-ph, math.MP, math.OC, nlin.PS
原文アブストラクト
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example.