多Euler-Lagrange系统协同跟踪避碰控制

Cooperative tracking control of multi Euler-Lagrange system under collision avoidance

为解决多Euler-Lagrange系统的协同控制、跟踪控制以及避免碰撞等重要的安全问题,提出了一种新颖的协同跟踪控制方法。该算法将势函数与拓扑连通性技术相互结合,利用构造的势函数来描述避免碰撞的要求,并基于此为多Euler-Lagrange系统设计了协同跟踪控制律,使得系统在实现目标跟踪的同时,能够避免智能体之间的相互碰撞。对于所提出的控制律,通过合理地应用Lyapunov稳定性理论分析了系统的稳定性。最后,仿真结果表明了所设计控制律的有效性。

A novel cooperative tracking control algorithm is proposed to solve the important security problems of multi Euler-Lagrange system, such as cooperative control, tracking control and collision avoidance. The control law combines the potential function with topological connectivity technology, by constructing potential functions to describe the collision avoidance requirements, and then a cooperative control law is designed to enable the multi Euler-Lagrange system avoid collisions while achieving target tracking. The Lyapunov stability theory is used to analyze the stability of the system. Finally, the simulation results show the effectiveness of the proposed control law.