Distributed finite-time tracking of multiple Euler-Lagrange systems without velocity measurements
Distributed finite-time tracking of multiple Euler-Lagrange systems without velocity measurements
复制标题
无需速度测量的多个欧拉-拉格朗日系统的分布式有限时间跟踪
DOI：
10.1002/rnc.3170
复制
发表时间：
2015
影响因子：
3.9
通讯作者：
Wen Guanghui
中科院分区：
文献类型：
--
作者：
Zhao Yu;Duan Zhisheng;Wen Guanghui
研究了具有多个Euler-Lagrange动力学的网络化智能体的分布式有限时间跟踪问题.为了实现有限时间跟踪，首先提出了一种基于相对位置和相对速度测量的分布式有限时间协议。通过使用齐次理论工具，从理论上证明了所提出的协议可以在存在控制输入约束的情况下保证有限时间跟踪。在状态反馈分析的基础上，利用二阶滑模观测器方法，提出了一类新的仅基于相对位置测量的有限时间跟踪协议。实验证明，采用所设计的协议，多个智能体可以在有限时间内跟踪目标的位置。在此基础上，提出了一种基于分布式估计器的有限时间分布式跟踪协议，用于求解具有动态前导的有限时间跟踪问题.最后仿真结果表明理论方法的有效性。版权所有© 2014约翰威利父子有限公司.
This paper investigates the distributed finite‐time tracking problem of networked agents with multiple Euler–Lagrange dynamics. To achieve finite‐time tracking, a distributed finite‐time protocol is first proposed on the basis of both relative position and relative velocity measurements. By using tools from homogeneous theory, it is theoretically shown that the proposed protocol can guarantee finite‐time tracking in the presence of control input constraints. On the basis of the state feedback analysis and with the aid of second‐order sliding‐mode observer approach, a new class of finite‐time tracking protocols based only on the relative position measurements is developed and employed. It is proved that the multiple agents equipped with the designed protocols can track the target location in finite time. Furthermore, a decentralized finite‐time protocol based on a distributed estimator is proposed to solve the finite‐time tracking problems with a dynamic leader. The effectiveness of the theoretical results is finally illustrated by numerical simulations. Copyright © 2014 John Wiley & Sons, Ltd.