Leader-following rendezvous for uncertain Euler Lagrange multi-agent systems by output feedback
Leader-following rendezvous for uncertain Euler Lagrange multi-agent systems by output feedback
复制标题
基于输出反馈的不确定欧拉拉格朗日多智能体系统的领导者跟随会合
DOI：
10.1016/j.jfranklin.2017.02.037
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Zhang Zhengqiang
中科院分区：
文献类型：
--
作者：
Li Ping;Xu Shengyuan;Ma Qian;Chen Weimin;Zhang Zhengqiang
研究了一类具有不可测速度和输入扰动的Euler-Lagrange多智能体系统的输出反馈跟踪问题。通过提出一种新的动态速度观测器，提出了一种自适应输出反馈一致性算法，使得通过调整设计参数，所有智能体的跟踪误差都能收敛到零的任意小邻域内.最后给出了一个数值例子来说明该控制器的有效性。
In this paper, we investigate the problem of output feedback tracking for a class of Euler–Lagrange multi-agent systems with unmeasurable velocity and input disturbances. By proposing a novel dynamic velocity observer, an adaptive output feedback consensus algorithm is proposed such that the tracking errors of all agents can converge to an arbitrarily small neighborhood of zero by tuning the design parameters. A numerical example is presented to illustrate the effectiveness of the controller.