Robust Collision-Avoidance Formation Control for Uncertain Euler-Lagrange Systems with Communication Delay

In this work, a problem of robust formation with collision avoidance (RFCA) for multiple Euler-Lagrange systems with communication delay is explored. The distributed robust formation control algorithm guaranteeing collision avoidance is presented. Firstly, utilizing classical repulsive potential functions solves the collision avoidance between agents. Secondly, by using the inequality technique to remove the effects from time delay during realizing formation mission, and estimations for uncertain terms are used in the controller design to compensate the nonlinear dynamics. In addition, the distributed RFCA control strategy is investigated such that all agents enable to achieve the desired formation configuration. Finally, an example is showcased to illustrate the effectiveness of the proposed protocol.