Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems

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Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems

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Yang, Qingkai / Fang, Hao / Chen, Jie / Jiang, Zhongping / Cao, Ming

This paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong nonlinearity in unmeasurable states pose severe technical challenges to global output-feedback control design. To overcome these difﬁculties, a global nonsingular coordinate transformation matrix in the upper triangular form is ﬁrstly proposed such that the nonlinear dynamic model can be partially linearized with respect to the unmeasurable states. And, a new type of velocity observers is designed to estimate the unmeasurable velocities for each system. Then, based on the outputs of the velocity observers, we propose distributed control laws that enable the coordinated tracking control system to achieve UGAS (uniform global asymptotic stability). Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme.

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Title :

Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems

Contributors:

Yang, Qingkai (author) / Fang, Hao (author) / Chen, Jie (author) / Jiang, Zhongping (author) / Cao, Ming (author)

Publication date :

2017-08-28

Remarks:

Yang , Q , Fang , H , Chen , J , Jiang , Z & Cao , M 2017 , ' Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems ' , IEEE Transactions on Automatic Control , vol. 62 , no. 9 , pp. 4855-4861 . https://doi.org/10.1109/TAC.2017.2696705

DOI :

https://doi.org/10.1109/TAC.2017.2696705

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

NETWORKS , DYNAMICS , TRACKING CONTROL , LEADER , COORDINATION , OBSERVERS , CONSENSUS

Classification :

DDC: