Observer-based Output Feedback Containment Control for Multiple Euler-Lagrange Systems

被引：1

作者：

Li, Zhuo ^{[1
]}

Sun, Yanchao ^{[1
]}

Li, Chuanjiang ^{[1
]}

Ma, Guangfu ^{[1
]}

机构：

[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin, Peoples R China

来源：

PROCEEDINGS OF 2016 SIXTH INTERNATIONAL CONFERENCE ON INSTRUMENTATION & MEASUREMENT, COMPUTER, COMMUNICATION AND CONTROL (IMCCC 2016) | 2016年

关键词：

output feedback control; containment control; Euler-Lagrange systems; finite-time observer; adaptive control; MULTIAGENT SYSTEMS; TRACKING CONTROL;

D O I：

10.1109/IMCCC.2016.198

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates output feedback containment control problem for multiple Euler-Lagrange systems based on finite-time observer. By considering the states of leaders are only available to part of followers and leaders are dynamic, generalized velocity observers and distributed adaptive control laws are designed for multiple Euler-Lagrange systems when the generalized velocity cannot be obtained directly. By using the graph theory and stability analysis, it is demonstrated that followers will converge asymptotically to the convex hull formed by the leaders. Finally, numerical simulations are given to illustrate the effectiveness of proposed observers and control schemes.

引用

页码：311 / 316

页数：6

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