Adaptive Fuzzy Coordinated Tracking Control of Networked Unknown Lagrange Systems
This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems on digraphs.By using the universal approximation capability of fuzzy logic systems,a distributed adaptive fuzzy tracking control protocol is proposed.Based on graph theory and Lyapunov theory,the convergence analysis for the proposed algorithm is provided.The development in this paper is suitable for the general directed communication topology,which is only required to have a spanning tree.Experimental results of distributed adaptive fuzzy control are demonstrated on a multi-robot platform to validate the effectiveness of the proposed algorithms.
Adaptive Fuzzy Control Tracking Control Distributed Control Cooperative Control
Chen Gang Feng E Ning Lin Qing Ling Rui
College of Automation,Chongqing University,Chongqing 400044
国际会议
长沙
英文
2003-2008
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）