NDLI: Distributed coordinated tracking control of multiple Euler–Lagrange systems by state and output feedback

Content Provider	IET Digital Library
Author	Li, Dongyu Ma, Guangfu He, Wei Zhang, Wei Li, Chuanjiang Ge, Shuzhi Sam
Abstract	This study addresses the distributed state and output feedback coordinated tracking problem for multiple Euler–Lagrange systems with a moving leader in the presence of non-linear uncertainties under a directed topology graph. The authors first design a distributed coordinated tracking control scheme by full-state feedback, where each follower can only share information with its neighbours. Next, the adaptive neural networks are applied to deal with the model uncertainties due to their superior approximation capability. To deal with the absence of velocity sensors, then they propose a distributed output feedback coordinated tracking control law combined with a high-gain observer. The uniform ultimate boundedness of all the state errors can be guaranteed in the sense of Lyapunov stability theory. Furthermore, the leaderless synchronisation problem is solved using the proposed control schemes. Finally, simulation examples are presented to illustrate the feasibility of the theoretical results.
Starting Page	2213
Ending Page	2221
Page Count	9
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 14, Sep (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/14
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0188
Journal	IET Control Theory & Applications
Publisher Date	2017-05-10
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Neural Network Approximation Capability Approximation Theory Combinatorial Mathematics Control System Analysis Control System Synthesis Directed Graph Directed Topology Graph Distributed Control Distributed State And Output Feedback Coordinated Tracking Control Law Design High-gain Observer Interpolation And Function Approximation Leaderless Synchronisation Problem Lyapunov Method Lyapunov Stability Theorem Model Uncertainties Modelling And Identification Multiple Euler-Lagrange System Multiple Nonlinear Uncertainties Multivariable Control System Neurocontrol Neurocontrollers Nonlinear Control System Numerical Analysis Observers Output Feedback Self Adjusting Control System Simulation Stability Stability in Control Theory State Error State Feedback Synchronisation Synthesis Method Uncertain System Uniform Ultimate Boundedness
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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