无需参数先验，实现异构系统无碰撞的航向驱动编队跟踪
Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems
- 基于航向观测设计分布式估计算法，替代传统连通性假设
- 自适应控制律使编队在未知参数下稳定追踪目标形态
- 给出初始配置条件，确保全程避免碰撞，适合多领头机动编队
本文研究具有参数不确定性的异构 Euler-Lagrange 系统在多个运动领头者存在下的航向驱动编队跟踪问题。为估计领头者的速度与加速度，首先设计一种分布式观测器，利用基于航向的定位条件替代传统的连通性假设。该观测器结合自适应机制，合成一种新型分布式控制律，引导编队趋近目标编队，且无需系统参数先验信息。此外，建立了依赖于初始编队配置的充分条件，确保编队演化过程中始终无碰撞。通过数值例子验证了所提方法的有效性。
原文摘要 · Abstract (English)
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example.
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