Title :
Distributed Average Tracking of Networked Euler-Lagrange Systems
Author :
Fei Chen ; Gang Feng ; Lu Liu ; Wei Ren
Author_Institution :
Dept. of Autom., Xiamen Univ., Xiamen, China
Abstract :
Under an extended proportional-integral (PI) control scheme, a new class of distributed average tracking (DAT) algorithms has been developed for three different kinds of references: references with steady states, references with bounded derivatives, and references with a common derivative. The class of DAT algorithms are further applied to solve the DAT problem for Euler-Lagrange (EL) systems.
Keywords :
Lyapunov methods; PI control; control system synthesis; multi-robot systems; network theory (graphs); DAT algorithms; EL systems; bounded derivatives; distributed average tracking algorithms; multiagent systems; networked Euler-Lagrange systems; proportional-integral control scheme; Algorithm design and analysis; Control systems; Convergence; Educational institutions; Heuristic algorithms; Steady-state; Vectors; Cooperative control; Euler-Lagrange systems; distributed average tracking (DAT); multi-agent systems;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2014.2343111
