Distributed tracking of multiple under-actuated Lagrangian systems with uncertain parameters and actuator faults | IEEE Conference Publication | IEEE Xplore

Distributed tracking of multiple under-actuated Lagrangian systems with uncertain parameters and actuator faults


Abstract:

A distributed adaptive controller is proposed for a class of under-actuated Lagrangian systems under a directed communication graph to control the actuated variables to t...Show More

Abstract:

A distributed adaptive controller is proposed for a class of under-actuated Lagrangian systems under a directed communication graph to control the actuated variables to track a dynamic leader and keep unactuated ones bounded. A finite-time observer is introduced to estimate the leader's velocity. Based on the two sliding variables defined for the actuated and unactuated channels, the adaptive controllers are designed for the under-actuated Lagrangian systems with or without actuator faults. The convergence of the proposed controllers is proved based on the separation principle between the estimation and control. Finally, experiments are conducted to verify the effectiveness of the proposed controllers.
Date of Conference: 10-12 July 2019
Date Added to IEEE Xplore: 29 August 2019
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Conference Location: Philadelphia, PA, USA

I. Introduction

In the past decade, the cooperative control of multiple Lagrangian systems has attracted significant attention because the networked systems are of stronger robustness and higher efficiency than a single system. The distributed consensus problem is easy to implement and can be classified into leaderless and leader-follower cases. The latter one will be considered in this study due to its simplicity and scalability [1]. A critical problem is to design a leader-follower tracking controller to drive a team of followers to track a prescribed trajectory governed by a leader based on the local information exchange. As a consequence, lots of researches have been done on this topic [2], [3].

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References

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