Distributed coordinated tracking control for multiple nonholonomic systems with directed communication topology

2017 ◽  
Author(s):  
Qin Wang ◽  
Zuwen Chen ◽  
Yang Yi
Keyword(s):  
Tracking Control ◽  
Nonholonomic Systems ◽  
Communication Topology ◽  
Coordinated Tracking

scholarly journals Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Gang Chen ◽  
Qing Lin
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Fuzzy Logic Systems ◽  
External Disturbances ◽  
Communication Topology ◽  
Velocity Information ◽  
Cooperative Tracking

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.

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