Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems
Joint Authors
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-07-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Chen, Gang& Lin, Qing. 2014. Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems. Abstract and Applied Analysis،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1013321
Modern Language Association (MLA)
Chen, Gang& Lin, Qing. Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems. Abstract and Applied Analysis No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1013321
American Medical Association (AMA)
Chen, Gang& Lin, Qing. Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems. Abstract and Applied Analysis. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1013321
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1013321