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Coordination and collision avoidance for Lagrangian systems with disturbances |
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| Authors: | Peter F Hokayem Mark W Spong |
| Institution: | a Automatic Control Laboratory, ETHZ, Physikstrasse 3, CH-8092 Zurich, Switzerland b Coordinated Science Laboratory and the IESE Department, University of Illinois, 1308 W. Main St., Urbana, IL 61801, USA c Eric Jonsson School of Engineering and Computer Science, University of Texas at Dallas, 800 W. Campbell Rd., Richardson, TX 75080, USA |
| Abstract: | In this paper we address the problem of cooperation and collision avoidance for Lagrangian systems with input disturbances. We design control laws that guarantee cooperation as well as collision-free maneuvers. We show, using a two-step proof, that the avoidance part of the control laws guarantees safety of the agents independently of the coordinating part. Then, we establish an ultimate bound on the region to which all the agents converge to. The obtained theoretical results are illustrated through numerical examples. |
| Keywords: | Lagrangian systems Avoidance control Coordination Persistent bounded disturbances |
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