Paper Info
Title
Distributed Coordinated Tracking Control for Multiple Uncertain Euler-Lagrange Systems With Time-Varying Communication Delays.
Abstract
In this paper, under-directed topology, distributed coordinated tracking control schemes are proposed for multiple Euler-Lagrange systems with time-varying communication delays, nonlinear uncertainties, and external disturbances. Concerning with different leader velocities, both constant leader velocity case and time-varying leader velocity case are addressed by designing two different distributed observers. Combining with the proposed distributed leader velocity observers, two coordinated tracking control schemes are developed by the effort of neural network approximation and sliding mode technique, which can compensate the nonlinearities and uncertainties. For the first case, tracking errors are rigorously proved to be globally asymptotically converged by using Lyapunov-Krasovskii method. To further eliminate chattering caused by the discontinuous sign function, the saturation function is used for the second case, and the proposed control algorithm ensures the same convergence of tracking errors via Lyapunov analysis. Finally, the effectiveness of the proposed distributed tracking control schemes is verified by the numerical examples.
Year
DOI
Venue
2019
10.1109/ACCESS.2019.2893261
IEEE ACCESS
Keywords
Field
DocType
Multi-agent systems,Euler-Lagrange systems,distributed tracking control,time-varying communication delay,neural network
Convergence (routing),Lyapunov function,Decentralised system,Nonlinear system,Control theory,Computer science,Euler lagrange,Multi-agent system,Sign function,Artificial neural network,Distributed computing
Journal
Volume
ISSN
Citations 
7
2169-3536
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Yanchao Sun1397.07
Dingran Dong211.71
Hong-De Qin332.44
Ning Wang420218.93
Xiaojia Li500.34