Robust Cooperative Saturated Output Feedback Control of Uncertain Networked Euler-Lagrange Systems

被引：0

作者：

Ostadijafari, Mohammad ^{[1
]}

Fakhimi, Siavash ^{[2
]}

Omam, Mojtaba Amini ^{[2
]}

机构：

[1] Islamic Azad Univ, South Tehran Branch, Dept Elect Engn, Tehran, Iran

[2] Islamic Azad Univ, Lahijan Branch, Dept Elect Engn, Lahijan, Iran

来源：

2017 INTERNATIONAL CONFERENCE ON MECHANICAL, SYSTEM AND CONTROL ENGINEERING (ICMSC) | 2017年

关键词：

consensus; radial basis function neural network; Euler-Lagrange system; leaderless synchronization; ALGORITHMS; CONSENSUS;

D O I：

暂无

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 deals with the leaderless synchronization of multiple agents modeled by nonlinear uncertain EulerLagrange equations with unmeasurable velocities and bounded control inputs. An adaptive cooperative control law is proposed to the entire group sync with uncertainty. Due to the fact that the closed- loop interconnected Euler-Lagrange equations employing this algorithm are non-autonomous, Matrosov's theorem is exploited to guarantee finite time synchronization in spite of the presence of the system uncertainties and external disturbances. From the simulation results, the consensus scheme has been shown to achieve favorable performance and the synchronization is reached on the generalized coordinates.

引用

页码：230 / 234

页数：5

共 50 条

[1] Robust output feedback control of uncertain switched Euler-Lagrange systems
Cheng, Teng-Hu
Downey, Ryan J.
Dixon, Warren E.
[J]. 2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2013, : 4668 - 4673
[2] Output feedback control of uncertain Euler-Lagrange systems by internal model
He, Xingxiu
Lu, Maobin
[J]. AUTOMATICA, 2023, 156
[3] Saturated RISE Feedback Control for Euler-Lagrange Systems
Fischer, N.
Kan, Z.
Dixon, W. E.
[J]. 2012 AMERICAN CONTROL CONFERENCE (ACC), 2012, : 244 - 249
[4] Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays
Chen, Liang-ming
Li, Chuan-jiang
Sun, Yan-chao
Ma, Guang-fu
[J]. CHINESE PHYSICS B, 2017, 26 (06)
[5] Cooperative controller design for synchronization of networked uncertain Euler-Lagrange systems
Chen, Gang
[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2015, 25 (11) : 1721 - 1738
[6] Robust Synchronization Control of Switched Networked Euler-Lagrange Systems
Lu, Maobin
Liu, Lu
[J]. IEEE TRANSACTIONS ON CYBERNETICS, 2022, 52 (07) : 6834 - 6842
[7] Adaptive Control for Rendezvous Problem of Networked Uncertain Euler-Lagrange Systems
Dong, Yi
Chen, Jie
[J]. IEEE TRANSACTIONS ON CYBERNETICS, 2019, 49 (06) : 2190 - 2199
[8] Distributed adaptive containment control for networked uncertain Euler-Lagrange systems
Li, Ranran
[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2019, 50 (10) : 1961 - 1975
[9] Robust Control Design for Euler-Lagrange Systems with Output Constraints
Sachan, Kapil
Padhi, Radhakant
[J]. IFAC PAPERSONLINE, 2020, 53 (01): : 313 - 318
[10] Distributed robust control for synchronised tracking of networked Euler-Lagrange systems
Yang, Zi-Jiang
Shibuya, Yoshiyuki
Qin, Pan
[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2015, 46 (04) : 720 - 732

← 1 2 3 4 5 →