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Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2019 (English)In: IEEE Control Systems LettersArticle in journal, Letter (Refereed) Published
Abstract [en]

Abstract—In this paper, we design a decentralized controlprotocol for the collision avoidance of a multi-agent system,which is comprised of 3D ellipsoidal agents that obey 2nd-orderuncertain Lagrangian dynamics. More specifically, we derivea novel closed-form smooth barrier function that resemblesa distance metric between 3D ellipsoids and can be used byfeedback-based control laws to guarantee inter-agent collisionavoidance. Discontinuities and adaptation laws are incorporatedin the control protocol to deal with the uncertainties of thedynamic model. The control laws are decentralized, in the sensethat each agent uses only local sensing information. Simulationresults verify the theoretical findings.

Place, publisher, year, edition, pages
2019.
Keywords [en]
Cooperative control, Decentralized control, Agents-based systems, Robust adaptive control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-267487OAI: oai:DiVA.org:kth-267487DiVA, id: diva2:1392579
Note

QC 20200210

Available from: 2020-02-07 Created: 2020-02-07 Last updated: 2020-02-10Bibliographically approved

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Verginis, ChristosDimarogonas, Dimos V.

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Decision and Control Systems (Automatic Control)Centre for Autonomous Systems, CASACCESS Linnaeus Centre
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