Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with nonconstant velocity. We initially study a fixed network and show that the leader tracking objective is achieved semiglobally exp...
| Main Authors: | , , |
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| Format: | Journal Article |
| Language: | English |
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IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
2019
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| Subjects: | |
| Online Access: | http://purl.org/au-research/grants/arc/DP160104500 http://hdl.handle.net/20.500.11937/84353 |
| _version_ | 1848764640154091520 |
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| author | Ye, Mengbin Anderson, B.D.O. Yu, C. |
| author_facet | Ye, Mengbin Anderson, B.D.O. Yu, C. |
| author_sort | Ye, Mengbin |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with nonconstant velocity. We initially study a fixed network and show that the leader tracking objective is achieved semiglobally exponentially fast if the graph contains a directed spanning tree. By model independent, we mean that each agent executes its algorithm with no knowledge of the parameter values of any agent's dynamics. Certain bounds on the agent dynamics (including any disturbances) and network topology information are used to design the control gain. This fact, combined with the algorithm's model independence, results in robustness to disturbances and modeling uncertainties. Next, a continuous approximation of the algorithm is proposed, which achieves practical tracking with an adjustable tracking error. Last, we show that the algorithm is stable for networks that switch with an explicitly computable dwell time. Numerical simulations are given to show the algorithm's effectiveness. |
| first_indexed | 2025-11-14T11:22:34Z |
| format | Journal Article |
| id | curtin-20.500.11937-84353 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T11:22:34Z |
| publishDate | 2019 |
| publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-843532022-10-27T05:08:34Z Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm Ye, Mengbin Anderson, B.D.O. Yu, C. Science & Technology Technology Automation & Control Systems Computer Science, Information Systems Computer Science Directed graph distributed algorithm Euler-Lagrange agent model independent switching network tracking SYSTEMS SYNCHRONIZATION CONSENSUS In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with nonconstant velocity. We initially study a fixed network and show that the leader tracking objective is achieved semiglobally exponentially fast if the graph contains a directed spanning tree. By model independent, we mean that each agent executes its algorithm with no knowledge of the parameter values of any agent's dynamics. Certain bounds on the agent dynamics (including any disturbances) and network topology information are used to design the control gain. This fact, combined with the algorithm's model independence, results in robustness to disturbances and modeling uncertainties. Next, a continuous approximation of the algorithm is proposed, which achieves practical tracking with an adjustable tracking error. Last, we show that the algorithm is stable for networks that switch with an explicitly computable dwell time. Numerical simulations are given to show the algorithm's effectiveness. 2019 Journal Article http://hdl.handle.net/20.500.11937/84353 10.1109/TCNS.2018.2856298 English http://purl.org/au-research/grants/arc/DP160104500 IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC fulltext |
| spellingShingle | Science & Technology Technology Automation & Control Systems Computer Science, Information Systems Computer Science Directed graph distributed algorithm Euler-Lagrange agent model independent switching network tracking SYSTEMS SYNCHRONIZATION CONSENSUS Ye, Mengbin Anderson, B.D.O. Yu, C. Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm |
| title | Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm |
| title_full | Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm |
| title_fullStr | Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm |
| title_full_unstemmed | Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm |
| title_short | Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm |
| title_sort | leader tracking of euler-lagrange agents on directed switching networks using a model-independent algorithm |
| topic | Science & Technology Technology Automation & Control Systems Computer Science, Information Systems Computer Science Directed graph distributed algorithm Euler-Lagrange agent model independent switching network tracking SYSTEMS SYNCHRONIZATION CONSENSUS |
| url | http://purl.org/au-research/grants/arc/DP160104500 http://hdl.handle.net/20.500.11937/84353 |