TY - GEN
T1 - Adaptive neural network tracking control of multi-agent systems with state constraints
AU - Li, Dongyu
AU - Ma, Guangfu
AU - Li, Chuangjiang
AU - Zhang, Wei
AU - He, Wei
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/29
Y1 - 2017/12/29
N2 - This paper studies the distributed coordinated tracking problem for multiple Euler-Lagrange systems (MELSs) with full-state constraints. Firstly, a distributed finite-time sliding-mode estimator (DFSE) is introduced to access precise estimations of the leader's position and velocity. Then, to guarantee the full-state constraints of MELSs, we use the barrier Lyapunov function (BLF) technique and a Moore-Penrose inverse term to design a distributed coordinated tracking control law. The asymptotic convergence of all the state errors can be proofed by Lyapunov stability analysis. Finally, simulation results are given to illustrate the feasibility of the proposed control law.
AB - This paper studies the distributed coordinated tracking problem for multiple Euler-Lagrange systems (MELSs) with full-state constraints. Firstly, a distributed finite-time sliding-mode estimator (DFSE) is introduced to access precise estimations of the leader's position and velocity. Then, to guarantee the full-state constraints of MELSs, we use the barrier Lyapunov function (BLF) technique and a Moore-Penrose inverse term to design a distributed coordinated tracking control law. The asymptotic convergence of all the state errors can be proofed by Lyapunov stability analysis. Finally, simulation results are given to illustrate the feasibility of the proposed control law.
UR - https://www.scopus.com/pages/publications/85050344603
U2 - 10.1109/CAC.2017.8242763
DO - 10.1109/CAC.2017.8242763
M3 - 会议稿件
AN - SCOPUS:85050344603
T3 - Proceedings - 2017 Chinese Automation Congress, CAC 2017
SP - 201
EP - 205
BT - Proceedings - 2017 Chinese Automation Congress, CAC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 Chinese Automation Congress, CAC 2017
Y2 - 20 October 2017 through 22 October 2017
ER -