Finite‐time cooperative‐tracking control for networked Euler–Lagrange systems

Chen, Gang; Yin, Yue; Song, Yongduan

doi:10.1049/iet-cta.2013.0205

Cited by 67 publications

(49 citation statements)

References 32 publications

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“…Thus, R ′ 1 (Q) ∶= ∑ =4 =2 |Q 1 |, defined in Theorem 1, does not grow and Q 11 grows arbitrarily. Now, consider the second row of matrix Q, ie, [Q 21 , Q 22 , Q 23 , Q24 ]. Notice that the diagonal entry Q 22 can always be rendered positive and arbitrarily large by choosing some > 0 and a large m {K P } > 0.…”

mentioning

confidence: 99%

Model‐independent consensus control of Euler‐Lagrange agents with interconnecting delays

Hernández-Guzmán

Orrante-Sakanassi

2019

Intl J Robust & Nonlinear

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Summary In this paper, we introduce, for the first time, a proportional‐integral‐derivative controller to solve the consensus problem for networked Euler‐Lagrange agents. The proposed control scheme solves both the leaderless and the leader‐follower consensus problems without requiring the exact knowledge of any part of the agent model. Contrary to the previous studies in the literature, we do not require either to cancel any part of the agent model, which renders robust our approach, nor employ discontinuous controllers. It is proven that both consensus problems are solved globally and asymptotically and the presence of bounded time‐varying communicating delays is considered.

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mentioning

confidence: 99%

Model‐independent consensus control of Euler‐Lagrange agents with interconnecting delays

Hernández-Guzmán

Orrante-Sakanassi

2019

Intl J Robust & Nonlinear

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“…Hence, we can derive from Lemma 1 that P is positive definite if (17)- (19) hold. Therefore it followṡ…”

Section: Stability Analysismentioning

confidence: 99%

“…(18) and (19) In this appendix, the details on how to derive inequalities (18) and (19) (17), which guarantees P 33 > 0, the following condition also needs to be satisfied to make P positive definite…”

Section: Acknowledgmentsmentioning

confidence: 99%

Distributed observer‐based coordination for multiple Lagrangian systems using only position measurements

Yang

Fang

Chen

et al. 2014

IET Control Theory & Applications

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This study addresses the distributed coordination problem for multiple Lagrangian systems under a directed graph. Two cases are considered, namely, the distributed tracking control problem with a dynamic leader and the leaderless synchronisation problem. To overcome the difficulty that only positions are measured, a kind of new distributed observer is designed to estimate the velocity for each follower. The velocity observer is updated using only position information from the agent itself and from its neighbours. Based on the outputs of the observer, the distributed control protocols are proposed, respectively, such that the tracking errors locally exponentially converge to zero in the tracking scenario and the agents synchronise in the leaderless synchronisation scenario. Furthermore, the stability of the overall scheme is discussed under the directed interaction graphs that contain a directed spanning tree. Finally, cooperative simulations are provided to show the effectiveness of the proposed observer and control algorithms.

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“…Different FT control strategies for multiagent first‐order systems have been proposed for directed and undirected graphs . The FT control of multiple second‐order systems is also studied in several works . Using different, continuous and discontinuous, control techniques, all these second‐order proposals have established their results assuming that velocities are available.…”

Section: Introductionmentioning

confidence: 99%

Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping

Cruz‐Zavala

Nuño

Moreno

2019

Intl J Robust & Nonlinear

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Summary Motivated by the energy‐shaping framework and the properties of homogeneous systems, this paper deals with the problem of achieving consensus of multiple Euler‐Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity‐based control. We propose a method to derive a novel family of decentralized controllers that is capable of solving the leaderless and the leader‐follower consensus problems in finite‐time in networks of fully actuated EL systems without employing velocity measurements. As in the energy‐shaping methodology, the controller is another EL system and the plant‐controller interconnection is the gradient of a suitable defined potential function. The potential energy and dissipation functions, of the controller, are provided with some homogeneous properties in order to achieve finite‐time convergence. This paper provides several simulations that corroborate the performance of different controllers.

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Finite‐time cooperative‐tracking control for networked Euler–Lagrange systems

Cited by 67 publications

References 32 publications

Model‐independent consensus control of Euler‐Lagrange agents with interconnecting delays

Model‐independent consensus control of Euler‐Lagrange agents with interconnecting delays

Distributed observer‐based coordination for multiple Lagrangian systems using only position measurements

Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping

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