Cooperative collision-free control of Lagrangian multi-agent formations

In this paper we address the problem of cooperation and collision avoidance for multi-agent Lagrangian systems with input disturbances. Two different disturbance observers with different stability results are used for Lagrangian systems, and collisions are shown to never occur in both cases. Then, using Lyapunov techniques, states of the systems are shown to converge to an ultimately bounded region around the master agent. Theoretical results are illustrated through simulations.