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Leader-Follower Coordinated Tracking of Multiple Heterogeneous Lagrange Systems Using Continuous Control
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2014 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 30, no 3, 739-745 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, we study the coordinated tracking problem of multiple heterogeneous Lagrange systems with a dynamic leader. Only nominal parameters of Lagrange dynamics are assumed to be available. Under the local interaction constraints, i.e., the followers only have access to their neighbors' information and the leader being a neighbor of only a subset of the followers, continuous coordinated tracking algorithms with adaptive coupling gains are proposed. Except for the benefit of the chattering-free control achieved, the proposed algorithm also has the attribute that it does not require the neighbors' generalized coordinate derivatives. Global asymptotic coordinated tracking is guaranteed, and the tracking errors between the followers and the leader are shown to converge to zero. Examples are given to validate the effectiveness of the proposed algorithms.

Place, publisher, year, edition, pages
2014. Vol. 30, no 3, 739-745 p.
Keyword [en]
Continuous control algorithms, coordinated tracking, multiple heterogeneous Lagrange systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-147731DOI: 10.1109/TRO.2013.2294060ISI: 000337133700018Scopus ID: 2-s2.0-84902291852OAI: oai:DiVA.org:kth-147731DiVA: diva2:732820
Funder
Knut and Alice Wallenberg FoundationSwedish Research Council
Note

QC 20140707

Available from: 2014-07-07 Created: 2014-07-03 Last updated: 2017-12-05Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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