Model-independent formation tracking of multiple euler-lagrange systems via bounded inputs
Date of Original Version
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.
IEEE Transactions on Cybernetics
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.