Cooperative collision-free control of Lagrangian multi-agent formations

Gökhan M. Atinç, Dušan M. Stipanović

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper we address the problem of cooperation and collision avoidance for multi-agent Lagrangian systems with input disturbances. Two different disturbance observers with different stability results are used for Lagrangian systems, and collisions are shown to never occur in both cases. Then, using Lyapunov techniques, states of the systems are shown to converge to an ultimately bounded region around the master agent. Theoretical results are illustrated through simulations.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457700804
StatePublished - Jan 1 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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