Distributed tracking for multiple lagrangian systems using only position measurements

Qingkai Yang, Fengyi Zhou, Jie Chen, Xin Li, Hao Fang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)

Abstract

This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages287-292
Number of pages6
ISBN (Electronic)9783902823625
DOIs
Publication statusPublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: 24 Aug 201429 Aug 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Conference

Conference19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Country/TerritorySouth Africa
CityCape Town
Period24/08/1429/08/14

Keywords

  • Coordinated tracking
  • Distributed control
  • Lagrangian system
  • Multi-agent systems
  • Velocity observer

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Yang, Q., Zhou, F., Chen, J., Li, X., & Fang, H. (2014). Distributed tracking for multiple lagrangian systems using only position measurements. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 287-292). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.00508