Obstacle-Avoidance Distributed Optimal Coordination of Multiple Euler-Lagrangian Systems
Liwei An, Guang‐Hong Yang · 2020
This paper investigates the problem of obstacle avoidance in the distributed optimal coordination for multiple uncertain Euler-Lagrangian (EL) systems. The main challenge focuses on the co-design of obstacle avoidance mechanism and distributed optimization strategy. To address it, a novel safety barrier function in the closed form of path integrals is constructed. By combining distributed optimization algorithm and adaptive tracking control, a distributed coordination algorithm is proposed. Based on Lyapunov method and boundedness analysis for the barrier function, it is proven that the global convergence and collision avoidance of the EL systems can be guaranteed in the presence of parametric uncertainties.