scholarly journals Robust consensus tracking control of multiple mechanical systems under fixed and switching interaction topologies

PLoS ONE ◽  
2017 ◽  
Vol 12 (5) ◽  
pp. e0178330 ◽  
Author(s):  
Jianhui Liu ◽  
Bin Zhang
Keyword(s):  
Tracking Control ◽  
Mechanical Systems ◽  
Consensus Tracking ◽  
Robust Consensus

Distributed sliding-mode tracking control for multiple mechanical systems

2016 ◽  
Vol 231 (19) ◽  
pp. 3504-3515 ◽  
Author(s):  
Guangfu Ma ◽  
Yanchao Sun ◽  
Jun Wang ◽  
Chuanjiang Li
Keyword(s):  
Mechanical System ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Mechanical Systems ◽  
Upper Bounds ◽  
Tracking Errors ◽  
Consensus Tracking ◽  
High Conservation ◽  
Mode Tracking

Based on the sliding-mode and adaptive control theories, the distributed consensus tracking problem under directed topology is investigated for multiple mechanical systems in the presence of general disturbances. We consider that only a subset of the follower mechanical systems can get the information from the dynamic leader mechanical system. First, with the upper bounds of the general disturbances and the leader’s acceleration, a distributed sliding-mode tracking scheme is proposed. Then, when considering the high conservation of sliding-mode control, an improved algorithm with adaptation laws for the upper bounds is developed. Both the proposed algorithms can make tracking errors for each follower mechanical system asymptotically stable. Numerical examples and comparisons are provided to show the effectiveness and the performance of the proposed control strategies.

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