Robust Event-triggered Collision-avoidance Formation Control for Uncertain Euler-Lagrange Systems

This paper investigates an event-triggered formation with collision-avoidance problem for uncertain Euler-Lagrange systems with external disturbances. The designed controller can be implemented in directed networks relied on relative information. First, potential functions-based to prevent the collision between agents. Second, by using the adaptive law technique to address the unknown external disturbances and nonlinear dynamics, the estimation for uncertain terms is used in the controller design. In addition, an event-triggered strategy is proposed to reasonably use the limited communication resources and Zeno behavior is excluded. Furthermore, the proposed control algorithm is explored to make all agents achieve the desired formation configuration. Finally, an example is showcased to illustrate the effectiveness of the proposed scheme.