Distributed tracking for networked Euler-Lagrange systems without velocity measurements

20Citations
Citations of this article
5Readers
Mendeley users who have this article in their library.

Abstract

The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the followers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws.

Cite

CITATION STYLE

APA

Yang, Q., Fang, H., Mao, Y., & Huang, J. (2014). Distributed tracking for networked Euler-Lagrange systems without velocity measurements. Journal of Systems Engineering and Electronics, 25(4), 671–680. https://doi.org/10.1109/JSEE.2014.00077

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free