Zero-error coordinated tracking of multiple lagrange systems using continuous control
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 6712-6717 p.Conference paper (Refereed)
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.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0743-1546
Tracking (position), Adaptive coupling, Continuous control, Generalized coordinates, Lagrange systems, Local interactions, Tracking algorithm, Tracking errors, Tracking problem, Lagrange multipliers
IdentifiersURN: urn:nbn:se:kth:diva-150863DOI: 10.1109/CDC.2013.6760952ISI: 000352223507089ScopusID: 2-s2.0-84902327029ISBN: 978-1-4673-5714-2OAI: oai:DiVA.org:kth-150863DiVA: diva2:745856
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy
QC 201409112014-09-112014-09-112015-12-08Bibliographically approved