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Velocity observer based distributed consensus tracking control for multiple Euler-Lagrange systems
| Content Provider | Semantic Scholar |
|---|---|
| Author | Zhi-Hao, Xu Sheng, Li Qing-Wei, Chen |
| Copyright Year | 2015 |
| Abstract | Abstract: A distributed coordinated tracking control strategy is proposed for Euler-Lagrange systems under undirected topology. The proposed strategy allows that only a subset of the follower agents have access to the desired trajectory. Both the cases when the generated coordinate derivatives of the leader agent is constant and varying are considered. An observer is produced with the continuous estimation of the acceleration, the sufficient conditions when the observer is stable are given. The controller is composed of two parts, the first part is the output of a neural network approximating the nonlinear function, the second part is a robust term to reduce the approximate error and external disturbance, which guarantees the continuous of the control input. The stability of the closed-loop system is proven by the Lyapunov theory, and simulations are also presented to illustrate the effectiveness of the controller. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://jcta.alljournals.ac.cn/cta_cn/ch/reader/create_pdf.aspx?file_no=CCTA140441&flag=1&journal_id=cta_cn&year_id=2015 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
