Application of Inverse Optimal Formation Control for Euler-Lagrange Systems

Abstract

This paper studies the inverse optimal formation control problem for heterogeneous Euler-Lagrange systems. In order to reduce the impacts of surface vehicles configuration and surface vehicles type on transportation efficiency, the nonlinear terms in the system models are considered. Then, an inverse optimal formation controller is proposed by using leader-follower formation approach and the inverse optimal stability theory, which ensures all signals of considered system are semi-globally uniformly ultimately bounded (SGUUB). And the controller can also minimize the cost function. Finally, a simulation example is given to verify the effectiveness of the designed control method.