Distributed tracking of multiple under-actuated Lagrangian systems with uncertain parameters and actuator faults

2019 ◽  
Author(s):  
Ti Chen ◽  
Jinjun Shan
Keyword(s):  
Lagrangian Systems ◽  
Uncertain Parameters ◽  
Actuator Faults ◽  
Distributed Tracking

Multi-Agent Optimization Design for Autonomous Lagrangian Systems

2016 ◽  
Vol 04 (01) ◽  
pp. 5-13 ◽  
Author(s):  
Zhenhua Deng ◽  
Yiguang Hong
Keyword(s):  
Continuous Time ◽  
Optimization Design ◽  
Exponential Convergence ◽  
Distributed Optimization ◽  
Optimization Algorithms ◽  
Lagrangian Systems ◽  
Uncertain Parameters ◽  
Optimization Task ◽  
Optimization Control ◽  
Multi Agent

In this paper, distributed optimization control for a group of autonomous Lagrangian systems is studied to achieve an optimization task with local cost functions. To solve the problem, two continuous-time distributed optimization algorithms are designed for multiple heterogeneous Lagrangian agents with uncertain parameters. The proposed algorithms are proved to be effective for those heterogeneous nonlinear agents to achieve the optimization solution in the semi-global sense, even with the exponential convergence rate. Moreover, simulation adequately illustrates the effectiveness of our optimization algorithms.

scholarly journals Distributed Tracking for Multiple Lagrangian Systems Using Only Position Measurements.

2014 ◽  
Vol 47 (3) ◽  
pp. 287-292 ◽  
Author(s):  
Qingkai Yang ◽  
Fengyi Zhou ◽  
Jie Chen ◽  
Xin Li ◽  
Hao Fang
Keyword(s):  
Lagrangian Systems ◽  
Distributed Tracking
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