Back to Search
Start Over
Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems.
- Source :
-
IEEE Transactions on Automatic Control . Jun2011, Vol. 56 Issue 6, p1415-1421. 7p. - Publication Year :
- 2011
-
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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 56
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 61129466
- Full Text :
- https://doi.org/10.1109/TAC.2011.2109437