Backstepping-based distributed coordinated tracking formultiple uncertain Euler-Lagrange systems  

作　　者：yanchao sun wenjia wang guangfu ma zhuo li chuanjiang li Yanchao Sun Wenjia Wang Guangfu Ma Zhuo Li Chuanjiang Li(department of control science and engineering,harbin institute of technology,Harbin 150001,China)

机构地区：Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Journal of Systems Engineering and Electronics》2016年第5期1083-1095,共13页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61304005;61174200);the Research Fund for the Doctoral Program of Higher Education of China(20102302110031)

摘　　要：Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange （EL） systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network （NN） approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies.Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange （EL） systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network （NN） approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies.

关 键 词：multi-agent systems Euler-Lagrange （EL） system coordinatedtracking backstepping control distributed control. 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]