A data-driven method based on quadratic programming for distance-based formation control of Euler-Lagrange systems

Distance-based formation control of second-order autonomous agents can be seen as a physical system of particles linked by springs, whose evolution may be described by a Lagrangian function. In this letter we present a method based on quadratic programming to approximate the unknown Lagrangian function associated with the distance-based formation control of second-order agents from a set of sample data.