Leader-Following Consensus for Multiple Euler-Lagrange Systems by Distributed Position Feedback Control

• 成果类型: Article
• 署名作者: He, Changran; Huang, Jie
• 署名单位: Chinese University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3055192
• 发表日期: 2021
• 页码: 5561-5568
• 关键词: Feedback control; observers; Symmetric matrices; Damping; Robot kinematics; Manipulators; Eigenvalues and eigenfunctions; Euler-Lagrange (EL) systems; leader-following consensus; position feedback

摘要

In this article, we study the leader-following consensus problem for multiple Euler-Lagrange (EL) systems with natural damping over static and connected communication networks by a distributed position feedback control law. By combining the adaptive distributed observer for a leader system and the dynamic compensator technique for dealing with a single EL system by position feedback control, we synthesize a distributed position feedback control law and show that this control law solves the leader-following consensus problem for multiple EL systems with natural damping. A numerical example will be used to illustrate our design.