Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties

Erick J. Rodríguez-Seda; Dusan M. Stipanovic; Mark W. Spong

doi:10.1109/CDC.2011.6160783

Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties

Erick J. Rodríguez-Seda, Dusan M. Stipanovic, Mark W. Spong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We present a decentralized, real-time, cooperative avoidance control law for a group of nonlinear Lagrangian systems with bounded control inputs, limited sensing ranges, and bounded sensing errors. The control formulation builds on the concept of avoidance control and uses Lyapunov-based analysis to guarantee collision-free trajectories for a group of N vehicles with sensing uncertainties. Advantages of the cooperative avoidance strategy include its easy synthesis with other stable control laws and its null effect on the agent's main task when other vehicles and obstacles are sufficiently away. Two numerical examples are finally presented that illustrate the performance of the proposed control framework.

Original language	English (US)
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4207-4213
Number of pages	7
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6160783
State	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2011.6160783

Library availability

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Rodríguez-Seda, E. J., Stipanovic, D. M., & Spong, M. W. (2011). Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 4207-4213). Article 6160783 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6160783

Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties. / Rodríguez-Seda, Erick J.; Stipanovic, Dusan M.; Spong, Mark W.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 4207-4213 6160783 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rodríguez-Seda, EJ, Stipanovic, DM & Spong, MW 2011, Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6160783, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4207-4213, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160783

Rodríguez-Seda EJ, Stipanovic DM, Spong MW. Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 4207-4213. 6160783. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6160783

Rodríguez-Seda, Erick J. ; Stipanovic, Dusan M. ; Spong, Mark W. / Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties. 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. pp. 4207-4213 (Proceedings of the IEEE Conference on Decision and Control).

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AB - We present a decentralized, real-time, cooperative avoidance control law for a group of nonlinear Lagrangian systems with bounded control inputs, limited sensing ranges, and bounded sensing errors. The control formulation builds on the concept of avoidance control and uses Lyapunov-based analysis to guarantee collision-free trajectories for a group of N vehicles with sensing uncertainties. Advantages of the cooperative avoidance strategy include its easy synthesis with other stable control laws and its null effect on the agent's main task when other vehicles and obstacles are sufficiently away. Two numerical examples are finally presented that illustrate the performance of the proposed control framework.

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Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties

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