@inproceedings{8ce2ba676c514f26aa9540e45446302a,
title = "Cooperative surrounding control with collision avoidance for multiple Euler-Lagrange systems",
abstract = "This paper investigates the cooperative surrounding control problem for the multi-agent systems with nonlinear Euler-Lagrange dynamics. To guarantee the motion safety for the multi-agent systems, a cooperative surrounding control algorithm with collision avoidance is proposed for each agent such that all agents can surround the static target by applying the potential function between each agent and its neighbors into the control algorithm. At the same time, the configuration among target and agents is formed in the process of surrounding. The Lyapunov theory is used to prove the stability of the cooperative surrounding control algorithm. Finally, the simulation example illustrates the effectiveness of the proposed control algorithm.",
keywords = "Collision avoidance, Euler-lagrange system, Surrounding control",
author = "Liangming Chen and Yueyong Lv and Guangfu Ma and Chuanjiang Li",
note = "Publisher Copyright: {\textcopyright} 2017 ACM.; 9th International Conference on Computer and Automation Engineering, ICCAE 2017 ; Conference date: 18-02-2017 Through 21-02-2017",
year = "2017",
month = feb,
day = "18",
doi = "10.1145/3057039.3057043",
language = "英语",
series = "ACM International Conference Proceeding Series",
publisher = "Association for Computing Machinery ",
pages = "217--221",
booktitle = "Proceedings of 2017 9th International Conference on Computer and Automation Engineering, ICCAE 2017",
address = "美国",
}