Adaptive Formation Control using Artificial Potentials for Euler-Lagrange Agents ⋆

In this paper, we present a formation control strategy for a group of agents modeled as Euler-Lagrange systems. The formation is achieved by means of a desired kinematic model generated by artificial potentials. The system uncertainties are compensated by binary adaptive control which combines the good transient properties and robustness of Sliding Mode Control with the desirable steady-state properties of parameter adaptive systems. Furthermore, an important advantage with respect to sliding mode control is that the proposed controller generates a continuous signal so that control chattering is avoided. A simplified version of the controller is also proposed, which does not require the knowledge of the velocities of the neighboring vehicles.