Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems

Abstract

In this note, we study a distributed coordinated tracking problem for multiple networked Euler-Lagrange systems. The objective is for a team of followers modeled by full-actuated Euler-Lagrange equations to track a dynamic leader whose vector of generalized coordinates is time varying under the constraints that the leader is a neighbor of only a subset of the followers and the followers have only local interaction. We consider two cases: i) The leader has a constant vector of generalized coordinate derivatives, and ii) The leader has a varying vector of generalized coordinate derivatives. In the first case, we propose a distributed continuous estimator and an adaptive control law to account for parametric uncertainties. In the second case, we propose a model-independent sliding mode control algorithm. Simulation results on multiple networked two-link revolute joint arms are provided to show the effectiveness of the proposed control algorithms.

Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements

“…The coordination main objective is that all systems reach a certain agreement point (consensus point). In many applications (e.g., formation control, network consensus, flocking of agents, synchronization along a given trajectory) the agents of the network have to follow a given desired trajectory (leader) where either each agent controller has the complete knowledge of such trajectory [15,1,13,21], or it contains an internal model that captures the dynamics of the desired trajectory [26,5]. In the referenced results, a distributed control approach using a communication network allows all agents to reach a common control goal despite that the agents can be non-identical and that the communications may induce time-delays.…”

Consensus for agents with general dynamics using optimistic optimization

“…In this linear setting, the behavior of the agents is well understood and useful properties can be ensured. Consensus approaches have also been proposed for nonlinear agent dynamics, such as second-order systems with nonlinear acceleration dynamics [9], [10], nonholonomic robots [11], and Euler-Lagrange dynamics [12]. The Lyapunov design techniques used in these works use the explicit forms of the agents' dynamics, in order to derive tailored control laws.…”

Adaptive backstepping synchronization for networked Lagrangian systems

“…As one of the research topics, the coordination control of multiple robots has attracted much attention with applications in mobile robots [2], [21], robot manipulators [27], [6], [28], unmanned aerial vehicles [23], autonomous underwater vehicles [9], aircraft [30], Lagrangian systems in general [3], [1]. Multi-agent systems based on first-order consensus algorithms have attracted intensive attention in the literature [11], [17].…”