TY - GEN
T1 - Distributed continuous finite-time containment control for euler-lagrange systems
AU - Dong, Dingran
AU - Li, Chuanjiang
AU - Sun, Yanchao
AU - Chen, Liangliang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7
Y1 - 2018/7
N2 - In this research, we mainly proposed a distributed containment control algorithm for Euler-Lagrange system, where general disturbances are considered. Also directed topologies are used to describe the leader-following case. First, we introduced the error variables, linear sliding variable, and terminal sliding variable. Then the control algorithm was proposed for the EL system expressed by EL equations. By using the Lyapunov theory and some lemmas, we proved the control errors of the system converge to the original point along the sliding mode. The followers can converge to the convex hull formed by the leaders in finite time.
AB - In this research, we mainly proposed a distributed containment control algorithm for Euler-Lagrange system, where general disturbances are considered. Also directed topologies are used to describe the leader-following case. First, we introduced the error variables, linear sliding variable, and terminal sliding variable. Then the control algorithm was proposed for the EL system expressed by EL equations. By using the Lyapunov theory and some lemmas, we proved the control errors of the system converge to the original point along the sliding mode. The followers can converge to the convex hull formed by the leaders in finite time.
KW - Containment control
KW - Distributed control
KW - Euler-Lagrange systems
KW - Finite-time control
KW - Leader-folllowing control
UR - https://www.scopus.com/pages/publications/85083507905
U2 - 10.1109/IMCCC.2018.00182
DO - 10.1109/IMCCC.2018.00182
M3 - 会议稿件
AN - SCOPUS:85083507905
T3 - Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018
SP - 856
EP - 860
BT - Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018
A2 - Li, Jun-Bao
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018
Y2 - 19 July 2018 through 21 July 2018
ER -