@inproceedings{1a9aaa1ea5f4455b907ad100be5bcf6f,
title = "Distributed tracking for multiple lagrangian systems using only position measurements",
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.",
keywords = "Coordinated tracking, Distributed control, Lagrangian system, Multi-agent systems, Velocity observer",
author = "Qingkai Yang and Fengyi Zhou and Jie Chen and Xin Li and Hao Fang",
note = "Publisher Copyright: {\textcopyright} IFAC.; 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
year = "2014",
doi = "10.3182/20140824-6-za-1003.00508",
language = "English",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "287--292",
editor = "Edward Boje and Xiaohua Xia",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
}