Predictor-based Safety-Critical Formation Control of Switched Uncertain Euler-Lagrange Systems

This paper presents a predictor-based safety-critical formation control method for multiple Euler-Lagrange systems with safety constraints, as well as model uncertainties. The communication network is jointly connected in the sense that communication link among agents are allowed to be disconnected at any time. By designing a predictor-based distributed control law and employing the control barrier functions, the EL MASs effectively accomplish the formation task while adhering to multiple safety requirements for collision avoidance. The efficacy of the proposed control strategy is exemplified through a comprehensive case study.