TY  - JOUR
AU  - Duan, Mengmeng
AU  - Huang, Fengping
AU  - Zhu, Shanying
AU  - Yang, Ziwen
AU  - Chen, Cailian
PY  - 2025
TI  - Distributed optimal formation control of heterogeneous Euler–Lagrange multi-agent systems
JO  - Journal of Automation and Intelligence
SN  - 2097-504X
SP  - 282
EP  - 290
VL  - 4
IS  - 4
AB  - In this paper, the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated. Based on the primal–dual dynamics and the adaptive control technique, a distributed optimal formation controller consists of a velocity reference signal generator and a velocity tracking controller is proposed. By using the optimality condition, the relationship between the equilibrium point of the closed-loop system and the optimal solution of the optimization problem is established. Then, by utilizing Lyapunov stability analysis, it is rigorously proved that the optimal formation is reached with the proposed controller. Lastly, simulation examples are provided to substantiate the theoretical results.
UR  - https://doi.org/10.1016/j.jai.2025.03.007
DO  - 10.1016/j.jai.2025.03.007