Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays
In this paper, we mainly investigate the coordinated tracking control issues of multiple Euler–Lagrange systems considering constant communication delays and output constraints. Firstly, we devise a distributed observer to ensure that every agent can get the information of the virtual leader. In ord...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/5594053 |
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| _version_ | 1832566398165975040 |
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| author | Hongde Qin Xiaojia Li Yanchao Sun |
| author_facet | Hongde Qin Xiaojia Li Yanchao Sun |
| author_sort | Hongde Qin |
| collection | DOAJ |
| description | In this paper, we mainly investigate the coordinated tracking control issues of multiple Euler–Lagrange systems considering constant communication delays and output constraints. Firstly, we devise a distributed observer to ensure that every agent can get the information of the virtual leader. In order to handle uncertain problems, the neural network technique is adopted to estimate the unknown dynamics. Then, we utilize an asymmetric barrier Lyapunov function in the control design to guarantee the output errors satisfy the time-varying output constraints. Two distributed adaptive coordinated control schemes are proposed to guarantee that the followers can track the leader accurately. The first scheme makes the tracking errors between followers and leader be uniformly ultimately bounded, and the second scheme further improves the tracking accuracy. Finally, we utilize a group of manipulator networks simulation experiments to verify the validity of the proposed distributed control laws. |
| format | Article |
| id | doaj-art-41e18e44c6084c47894ff40b9e13c8ce |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-41e18e44c6084c47894ff40b9e13c8ce2025-02-03T01:04:14ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/55940535594053Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time DelaysHongde Qin0Xiaojia Li1Yanchao Sun2Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 15001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 15001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 15001, ChinaIn this paper, we mainly investigate the coordinated tracking control issues of multiple Euler–Lagrange systems considering constant communication delays and output constraints. Firstly, we devise a distributed observer to ensure that every agent can get the information of the virtual leader. In order to handle uncertain problems, the neural network technique is adopted to estimate the unknown dynamics. Then, we utilize an asymmetric barrier Lyapunov function in the control design to guarantee the output errors satisfy the time-varying output constraints. Two distributed adaptive coordinated control schemes are proposed to guarantee that the followers can track the leader accurately. The first scheme makes the tracking errors between followers and leader be uniformly ultimately bounded, and the second scheme further improves the tracking accuracy. Finally, we utilize a group of manipulator networks simulation experiments to verify the validity of the proposed distributed control laws.http://dx.doi.org/10.1155/2021/5594053 |
| spellingShingle | Hongde Qin Xiaojia Li Yanchao Sun Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays Complexity |
| title | Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays |
| title_full | Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays |
| title_fullStr | Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays |
| title_full_unstemmed | Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays |
| title_short | Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays |
| title_sort | distributed adaptive coordinated control of multiple euler lagrange systems considering output constraints and time delays |
| url | http://dx.doi.org/10.1155/2021/5594053 |
| work_keys_str_mv | AT hongdeqin distributedadaptivecoordinatedcontrolofmultipleeulerlagrangesystemsconsideringoutputconstraintsandtimedelays AT xiaojiali distributedadaptivecoordinatedcontrolofmultipleeulerlagrangesystemsconsideringoutputconstraintsandtimedelays AT yanchaosun distributedadaptivecoordinatedcontrolofmultipleeulerlagrangesystemsconsideringoutputconstraintsandtimedelays |