Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems
This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/135690 |
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| _version_ | 1849308928792330240 |
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| author | Gang Chen Qing Lin |
| author_facet | Gang Chen Qing Lin |
| author_sort | Gang Chen |
| collection | DOAJ |
| description | This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are
considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The
development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law
and illustrate its robustness to actuator faults and external disturbances. |
| format | Article |
| id | doaj-art-0b8b7a1922be42abb85cc7a8a98857bc |
| institution | Kabale University |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-0b8b7a1922be42abb85cc7a8a98857bc2025-08-20T03:54:19ZengWileyAbstract and Applied Analysis1085-33751687-04092014-01-01201410.1155/2014/135690135690Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange SystemsGang Chen0Qing Lin1College of Automation, Chongqing University, Chongqing 400044, ChinaCollege of Automation, Chongqing University, Chongqing 400044, ChinaThis paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.http://dx.doi.org/10.1155/2014/135690 |
| spellingShingle | Gang Chen Qing Lin Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems Abstract and Applied Analysis |
| title | Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems |
| title_full | Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems |
| title_fullStr | Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems |
| title_full_unstemmed | Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems |
| title_short | Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems |
| title_sort | finite time observer based cooperative tracking control of networked lagrange systems |
| url | http://dx.doi.org/10.1155/2014/135690 |
| work_keys_str_mv | AT gangchen finitetimeobserverbasedcooperativetrackingcontrolofnetworkedlagrangesystems AT qinglin finitetimeobserverbasedcooperativetrackingcontrolofnetworkedlagrangesystems |