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Resilient Collision-Free Distributed Optimal Coordination for Multiple Euler-Lagrangian Systems Under Unreliable

Jia-Yuan Yin, Guang-Hong Yang, Huimin Wang

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    This study presents a resilient distributed optimal coordination strategy for multiple Euler-Lagrangian systems to ensure collision avoidance despite unreliable communication networks. The method guarantees system convergence and safety even with cyber attacks or network disruptions.

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    Area of Science:

    • Robotics
    • Control Systems
    • Networked Systems

    Background:

    • Distributed optimal coordination (DOC) is crucial for multi-agent systems.
    • Unreliable communication topologies, due to network issues or cyber attacks, pose significant challenges to collision avoidance.
    • Existing methods may not adequately address resilience under intermittent communication.

    Purpose of the Study:

    • To develop a resilient collision avoidance distributed optimal coordination (DOC) strategy for multiple Euler-Lagrangian (EL) systems.
    • To ensure reliable collision avoidance and system convergence under unreliable communication conditions.
    • To enhance the robustness of multi-agent coordination against network disruptions and cyber threats.

    Main Methods:

    • Redesigning a barrier function for collision avoidance.
    • Proposing a communication-based distributed collision avoidance algorithm.
    • Introducing a resilient DOC strategy using real-time position-based gradient, a coordinator, and an adaptive tracking controller.

    Main Results:

    • The proposed DOC strategy guarantees collision avoidance for multiple EL systems.
    • The strategy ensures system convergence even with unreliable communication topologies.
    • Lyapunov method and boundedness analysis confirm the effectiveness and resilience of the approach.

    Conclusions:

    • The developed resilient collision avoidance DOC strategy effectively manages multi-agent systems under adverse communication conditions.
    • The approach provides a robust solution for collision avoidance in networked systems facing communication uncertainties.
    • Simulation results validate the practical applicability and performance of the proposed strategy.