Task-Space Consensus of Networked Euler-Lagrange Systems to A Moving Leader

Van Tam Ngo, Yen Chen Liu

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2383-2388
頁數6
ISBN(電子)9781728185262
DOIs
出版狀態Published - 2020 十月 11
事件2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada
持續時間: 2020 十月 112020 十月 14

出版系列

名字Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
2020-October
ISSN(列印)1062-922X

Conference

Conference2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
國家/地區Canada
城市Toronto
期間20-10-1120-10-14

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程
  • 控制與系統工程
  • 人機介面

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