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

DOI10.1109/TAC.2017.2696705zbMATH Open1390.93092arXiv1907.00220MaRDI QIDQ4566822FDOQ4566822

Authors:

Publication date: 27 June 2018

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: This published 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 uniform global exponential stability (UGES). Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme. Followed by the original paper, a typo and a mistake is corrected.

Full work available at URL: https://arxiv.org/abs/1907.00220

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)

Cited In (14)

• Finite-time multi-target tracking of networked Euler-Lagrange systems via hierarchical active disturbance rejection control
• A robust adaptive velocity observer for mechanical systems transformed in cascade form
• Event-triggered synchronization control of networked Euler-Lagrange systems without requiring relative velocity information
• Distributed formation-containment control for multiple Euler–Lagrange systems with guaranteed performance and unknown control directions
• Distributed finite-time coordinated tracking control for multiple Euler-Lagrange systems with input nonlinearity
• Quasi fixed-time fault-tolerant control for nonlinear mechanical systems with enhanced performance
• Weighted containment control for Lagrangian systems with heterogeneous interactions of cooperation and competition
• Distributed optimal control for nonholonomic systems with input constraints and uncertain interconnections
• Hierarchical optimization for task-space bipartite coordination of multiple uncertain Lagrange plants
• Distributed finite-time tracking control for multiple uncertain Euler-Lagrange systems with error constraints
• Leader-following consensus with disturbance rejection for uncertain Euler-Lagrange systems over switching networks
• Global trajectory tracking of a class of manipulators without velocity measurements in random surroundings
• Distributed finite-time containment control for multiple Euler-Lagrange systems with communication delays
• Optimal synchronization control for heterogeneous multi-agent systems: online adaptive learning solutions

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