TY - GEN
T1 - Distributed containment control for euler-lagrange systems with dynamic leaders
AU - Li, Dongyu
AU - Sun, Yanchao
AU - Ma, Guangfu
AU - Li, Chuanjiang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/5
Y1 - 2016/12/5
N2 - This paper considers the distributed containment problem for multiple Euler-Lagrange systems with multiple dynamic leaders in the presence of unknown uncertainties and external disturbances under a directed topology graph. First, we propose a finite-time sliding-mode estimator to obtain accurate estimation of the weighted average of the accelerations, velocities, and positions of the leaders, where each follower can only share its information with its neighbors. Then, we design a distributed adaptive control algorithm combined with finite-time slidingmode estimators. Furthermore, it is theoretically shown that by using the proposed protocol, the states of the followers will converge to the convex hull spanned by those of the leaders.
AB - This paper considers the distributed containment problem for multiple Euler-Lagrange systems with multiple dynamic leaders in the presence of unknown uncertainties and external disturbances under a directed topology graph. First, we propose a finite-time sliding-mode estimator to obtain accurate estimation of the weighted average of the accelerations, velocities, and positions of the leaders, where each follower can only share its information with its neighbors. Then, we design a distributed adaptive control algorithm combined with finite-time slidingmode estimators. Furthermore, it is theoretically shown that by using the proposed protocol, the states of the followers will converge to the convex hull spanned by those of the leaders.
KW - Containment control
KW - Distributed control
KW - Euler-Lagrange systems
KW - Sliding-mode estimator
UR - https://www.scopus.com/pages/publications/85010332743
U2 - 10.1109/IMCCC.2016.189
DO - 10.1109/IMCCC.2016.189
M3 - 会议稿件
AN - SCOPUS:85010332743
T3 - Proceedings - 2016 6th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2016
SP - 73
EP - 77
BT - Proceedings - 2016 6th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2016
A2 - Li, Junbao
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2016
Y2 - 21 July 2016 through 23 July 2016
ER -