Zero-error coordinated tracking of multiple lagrange systems using continuous control | IEEE Conference Publication | IEEE Xplore

Zero-error coordinated tracking of multiple lagrange systems using continuous control


Abstract:

In this paper, we study the coordinated tracking problem of multiple Lagrange systems with a time-varying leader's generalized coordinate derivative. Under a purely local...Show More

Abstract:

In this paper, we study the coordinated tracking problem of multiple Lagrange systems with a time-varying leader's generalized coordinate derivative. Under a purely local interaction constraint, i.e., the followers only have access to their local neighbors' information and the leader is a neighbor of only a subset of the followers, a continuous coordinated tracking algorithm with adaptive coupling gains is proposed. Tracking errors between the followers and the leader are shown to converge to zero. Then, we extend this result to the case when the leader's generalized coordinate derivative is constant. Examples are given to validate the effectiveness of the proposed continuous coordinated tracking algorithms.
Date of Conference: 10-13 December 2013
Date Added to IEEE Xplore: 10 March 2014
ISBN Information:
Print ISSN: 0191-2216
Conference Location: Firenze, Italy

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