Distributed Containment Control for Euler-Lagrange Systems with Dynamic Leaders
This paper considers the distributed containment problem for multiple Euler-Lagrange systems with multiple dynamic leaders in the presence of unknown uncertainties and external disturbances under a directed topology graph.First,we propose a finite-time sliding-mode estimator to obtain accurate estimation of the weighted average of the accelerations,velocities,and positions of the leaders,where each follower can only share its information with its neighbors.Then,we design a distributed adaptive control algorithm combined with finite-time slidingmode estimators.Furthermore,it is theoretically shown that by using the proposed protocol,the states of the followers will converge to the convex hull spanned by those of the leaders.
Euler-Lagrange systems containment control distributed control sliding-mode estimator
Dongyu Li Yanchao Sun Guangfu Ma Chuanjiang Li
Department of Control Science and Engineering Harbin Institute of Technology Harbin, China
国际会议
哈尔滨
英文
73-77
2016-07-21（万方平台首次上网日期，不代表论文的发表时间）