论文信息 - Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems

Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems

This paper presents a distributed terminal (finite-time) backstepping consensus control for multi-agent EulerLagrange systems. Terminal virtual error surfaces and virtual controls are proposed to guarantee the finite-time error consensus and formation convergence of a group of one-leader and multi-follower cooperative tracking EulerLagrange system.Finite-time stability including infinite-time stability was proved by the finite-time Lyapunov candidate function. Simulation example shows the effectiveness of the proposed finite-time backstepping coordinated tracking controller.

Hu Chen | Jang-Myung Lee | Seong Ik Han

[1] Frank L. Lewis,et al. Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics , 2012, Autom..

[2] Miroslav Krstic,et al. Nonlinear and adaptive control de-sign , 1995 .

[3] Soon-Jo Chung,et al. Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems , 2007, IEEE Transactions on Robotics.

[4] Guanrong Chen,et al. Adaptive second-order consensus of networked mobile agents with nonlinear dynamics , 2011, Autom..

[5] John T. Wen,et al. Adaptive motion coordination: Using relative velocity feedback to track a reference velocity , 2009, Autom..

[6] Zhihong Man,et al. Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[7] Randal W. Beard,et al. Distributed Consensus in Multi-vehicle Cooperative Control - Theory and Applications , 2007, Communications and Control Engineering.