Distributed coordinated tracking control of multiple Euler-Lagrange systems by state and output feedback

作者：Li, Dongyu; Ma, Guangfu; He, Wei; Zhang, Wei; Li, Chuanjiang^*; Ge, Shuzhi Sam

来源：IET Control Theory and Applications, 2017, 11(14): 2213-2221.

DOI：10.1049/iet-cta.2017.0188

• distributed control
• state feedback
• control system synthesis
• nonlinear control systems
• uncertain systems
• directed graphs
• adaptive control
• neurocontrollers
• approximation theory
• observers
• Lyapunov methods
• stability
• synchronisation
• multiple Euler-Lagrange systems
• output feedback
• distributed state and output feedback coordinated tracking control law design
• multiple nonlinear uncertainties
• directed topology graph
• adaptive neural networks
• model uncertainties

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.

• 出版日期2017-9-14
• 单位哈尔滨工业大学; 北京科技大学; 上海卫星工程研究所