Model-independent trajectory tracking of Euler-Lagrange agents on directed networks
The problem of trajectory tracking of a moving leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics is studied in this paper using a distributed, model-independent control law. We show that if the directed graph contains a directed spanning tree, with the le...
| Main Authors: | , , |
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| Format: | Conference Paper |
| Language: | English |
| Published: |
IEEE
2016
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| Subjects: | |
| Online Access: | http://purl.org/au-research/grants/arc/DP160104500 http://hdl.handle.net/20.500.11937/84364 |
| _version_ | 1848764643063889920 |
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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 | The problem of trajectory tracking of a moving leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics is studied in this paper using a distributed, model-independent control law. We show that if the directed graph contains a directed spanning tree, with the leader as the root node, then a model-independent algorithm semi-globally achieves the trajectory tracking objective exponentially fast. By model-independent we mean that each agent can execute the algorithm with no knowledge of the agent self-dynamics, though reasonably, certain bounds are known. For stability, a pair of control gains for each agent are required to satisfy lower bounding inequalities and so design of the algorithm is centralised and requires some limited knowledge of global information. Numerical simulations are provided to illustrate the algorithm's effectiveness. |
| first_indexed | 2025-11-14T11:22:37Z |
| format | Conference Paper |
| id | curtin-20.500.11937-84364 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T11:22:37Z |
| publishDate | 2016 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-843642022-10-27T04:58:54Z Model-independent trajectory tracking of Euler-Lagrange agents on directed networks Ye, Mengbin Anderson, B.D.O. Yu, C. Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Operations Research & Management Science Engineering SYSTEMS SYNCHRONIZATION COORDINATION The problem of trajectory tracking of a moving leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics is studied in this paper using a distributed, model-independent control law. We show that if the directed graph contains a directed spanning tree, with the leader as the root node, then a model-independent algorithm semi-globally achieves the trajectory tracking objective exponentially fast. By model-independent we mean that each agent can execute the algorithm with no knowledge of the agent self-dynamics, though reasonably, certain bounds are known. For stability, a pair of control gains for each agent are required to satisfy lower bounding inequalities and so design of the algorithm is centralised and requires some limited knowledge of global information. Numerical simulations are provided to illustrate the algorithm's effectiveness. 2016 Conference Paper http://hdl.handle.net/20.500.11937/84364 10.1109/CDC.2016.7799335 English http://purl.org/au-research/grants/arc/DP160104500 IEEE fulltext |
| spellingShingle | Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Operations Research & Management Science Engineering SYSTEMS SYNCHRONIZATION COORDINATION Ye, Mengbin Anderson, B.D.O. Yu, C. Model-independent trajectory tracking of Euler-Lagrange agents on directed networks |
| title | Model-independent trajectory tracking of Euler-Lagrange agents on directed networks |
| title_full | Model-independent trajectory tracking of Euler-Lagrange agents on directed networks |
| title_fullStr | Model-independent trajectory tracking of Euler-Lagrange agents on directed networks |
| title_full_unstemmed | Model-independent trajectory tracking of Euler-Lagrange agents on directed networks |
| title_short | Model-independent trajectory tracking of Euler-Lagrange agents on directed networks |
| title_sort | model-independent trajectory tracking of euler-lagrange agents on directed networks |
| topic | Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Operations Research & Management Science Engineering SYSTEMS SYNCHRONIZATION COORDINATION |
| url | http://purl.org/au-research/grants/arc/DP160104500 http://hdl.handle.net/20.500.11937/84364 |