TY - GEN
T1 - Task-Space Consensus of Networked Euler-Lagrange Systems to A Moving Leader
AU - Ngo, Van Tam
AU - Liu, Yen Chen
N1 - Funding Information:
This work was supported in part by the Ministry of Science and Technology, Taiwan, under grants MOST 109-2636-E006-019 and MOST 108-2636-E-006-007.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/11
Y1 - 2020/10/11
N2 - The problem of a networked uncertain Euler-Lagrange systems (followers) to track a virtual dynamic leader under asymmetric time-varying communication delays is studied in this paper. It is assumed that the network is a directed spanning tree with the virtual leader as the root. Due to highly nonlinear of Euler-Lagrange systems and communication delays, it is challenging to design a control algorithm for followers to track the moving leader. To cope with the problems, we proposed a distributed cascade control framework which decouples an estimate of the leader velocity in the task space and an adaptive controller in the generalized space. It is verified that the network asymptotically achieves task-space consensus. Simulation results of networked Omni-directional mobile robots are provided to demonstrate the efficacy of the proposed control algorithm.
AB - The problem of a networked uncertain Euler-Lagrange systems (followers) to track a virtual dynamic leader under asymmetric time-varying communication delays is studied in this paper. It is assumed that the network is a directed spanning tree with the virtual leader as the root. Due to highly nonlinear of Euler-Lagrange systems and communication delays, it is challenging to design a control algorithm for followers to track the moving leader. To cope with the problems, we proposed a distributed cascade control framework which decouples an estimate of the leader velocity in the task space and an adaptive controller in the generalized space. It is verified that the network asymptotically achieves task-space consensus. Simulation results of networked Omni-directional mobile robots are provided to demonstrate the efficacy of the proposed control algorithm.
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U2 - 10.1109/SMC42975.2020.9282923
DO - 10.1109/SMC42975.2020.9282923
M3 - Conference contribution
AN - SCOPUS:85098868254
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 2383
EP - 2388
BT - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Y2 - 11 October 2020 through 14 October 2020
ER -