Title
Model-independent formation tracking of multiple euler-lagrange systems via bounded inputs
Document Type
Article
Date of Original Version
5-1-2021
Abstract
This article addresses two kinds of formation tracking problems, namely: 1) the practical formation tracking (PFT) problem and 2) the zero-error formation tracking (ZEFT) problem for multiple Euler-Lagrange systems with input disturbances and unknown models. In these problems, the bounded input constraint, which can be possibly caused by actuator saturation and power limitations, is taken into consideration. Then, the two classes of model-independent distributed control approaches, in which the prior information (i.e., the structures and features) of the system model is not used, are proposed correspondingly. Based on the nonsmooth analysis and Lyapunov stability theory, several novel criteria for achieving PFT and ZEFT of multiple Euler-Lagrange systems are derived. Finally, numerical simulations and comparisons are presented to verify the validity and effectiveness of the proposed control approaches.
Publication Title, e.g., Journal
IEEE Transactions on Cybernetics
Volume
51
Issue
5
Citation/Publisher Attribution
Wang, Leimin, Haibo He, Zhigang Zeng, and Ming Feng Ge. "Model-independent formation tracking of multiple euler-lagrange systems via bounded inputs." IEEE Transactions on Cybernetics 51, 5 (2021): 2813-2823. doi: 10.1109/TCYB.2019.2938398.