Distributed containment control of Euler-Lagrange systems over directed   graphs via distributed continuous controllers

doi:10.1049/iet-cta.2016.0699

CORC > 北京大学 > 工学院

	Distributed containment control of Euler-Lagrange systems over directed graphs via distributed continuous controllers
	Cheng, Bin ; Li, Zhongkui ; Shen, Lincheng
刊名	IET CONTROL THEORY AND APPLICATIONS
	2017
关键词	variable structure systems trees (mathematics) vectors control system synthesis directed graphs distributed control distributed containment control Euler-Lagrange systems directed graphs distributed continuous controllers multiple dynamic leaders vectors generalised coordinate derivatives accelerations adaptive protocol design physical parameters continuous distributed protocol directed spanning tree sliding mode control MULTIAGENT SYSTEMS CONSENSUS TRACKING LEADER DESIGN DELAYS
DOI	10.1049/iet-cta.2016.0699
英文摘要	This study considers the distributed containment problem of Euler-Lagrange systems over directed graphs in the presence of multiple dynamic leaders having varying vectors of generalised coordinate derivatives and accelerations. A distributed continuous algorithm is proposed, which can guarantee the containment error is uniformly ultimately bounded and converges to a small adjustable residual set. The authors also design adaptive protocols for the case where the physical parameters are unknown. Then, as a special case, they design a continuous distributed protocol for Euler-Lagrange systems to solve the coordinated tracking consensus problem over directed graphs containing a directed spanning tree with the leader as the root node. Compared to the previous related works, the authors' main contribution is that the proposed distributed continuous algorithms, using the sliding mode control and the boundary layer technique, can avoid the undesirable chattering effect and meanwhile are applicable to general directed graphs.; National Natural Science Foundation of China [61473005, 61403406, 11332001]; SCI(E); ARTICLE; 11,SI; 1786-1795; 11
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/472151]
专题	工学院
推荐引用方式 GB/T 7714	Cheng, Bin,Li, Zhongkui,Shen, Lincheng. Distributed containment control of Euler-Lagrange systems over directed graphs via distributed continuous controllers[J]. IET CONTROL THEORY AND APPLICATIONS,2017.
APA	Cheng, Bin,Li, Zhongkui,&Shen, Lincheng.(2017).Distributed containment control of Euler-Lagrange systems over directed graphs via distributed continuous controllers.IET CONTROL THEORY AND APPLICATIONS.
MLA	Cheng, Bin,et al."Distributed containment control of Euler-Lagrange systems over directed graphs via distributed continuous controllers".IET CONTROL THEORY AND APPLICATIONS (2017).