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Zero-error coordinated tracking of multiple lagrange systems using continuous 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
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 6712-6717 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we study the coordinated tracking problem of multiple Lagrange systems with a time-varying leader's generalized coordinate derivative. Under a purely local interaction constraint, i.e., the followers only have access to their local neighbors' information and the leader is a neighbor of only a subset of the followers, a continuous coordinated tracking algorithm with adaptive coupling gains is proposed. Tracking errors between the followers and the leader are shown to converge to zero. Then, we extend this result to the case when the leader's generalized coordinate derivative is constant. Examples are given to validate the effectiveness of the proposed continuous coordinated tracking algorithms.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 6712-6717 p.
Series
IEEE Conference on Decision and Control. Proceedings, ISSN 0743-1546
Keyword [en]
Tracking (position), Adaptive coupling, Continuous control, Generalized coordinates, Lagrange systems, Local interactions, Tracking algorithm, Tracking errors, Tracking problem, Lagrange multipliers
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-150863DOI: 10.1109/CDC.2013.6760952ISI: 000352223507089Scopus ID: 2-s2.0-84902327029ISBN: 978-1-4673-5714-2 (print)OAI: oai:DiVA.org:kth-150863DiVA: diva2:745856
Conference
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy
Note

QC 20140911

Available from: 2014-09-11 Created: 2014-09-11 Last updated: 2015-12-08Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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