Distributed finite-time tracking of multiple Euler-Lagrange dynamics without velocity measurements

Yu Zhao, Zhisheng Duan, Guanghui Wen

科研成果: 书/报告/会议事项章节会议稿件同行评审

9 引用 (Scopus)

摘要

This paper investigates the distributed finite-time tracking problems of networks of multiple Euler-Lagrange dynamics. First of all, a finite-time algorithm is designed on both the relative position and the relative velocity measurements. Then, based on the aforementioned tracking protocols, a bounded control law is proposed in constraint of saturation inputs. Motivated by the bounded control protocol, a new class of finite-time control protocols are developed without relative velocity measurements with the aid of second-order sliding-mode observer. It is theoretically proved that the multiple Euler-Lagrange dynamics can move to be with the target location in finite time under the present control protocol. Finally, the effectiveness of the algorithms is illustrated by a numerical simulation.

源语言英语
主期刊名Proceedings of the 32nd Chinese Control Conference, CCC 2013
出版商IEEE Computer Society
6923-6928
页数6
ISBN(印刷版)9789881563835
出版状态已出版 - 18 10月 2013
已对外发布
活动32nd Chinese Control Conference, CCC 2013 - Xi'an, 中国
期限: 26 7月 201328 7月 2013

出版系列

姓名Chinese Control Conference, CCC
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议32nd Chinese Control Conference, CCC 2013
国家/地区中国
Xi'an
时期26/07/1328/07/13

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