Publication

Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems

Yang, Q., Fang, H., Chen, J., Jiang, Z. & Cao, M., 28-Aug-2017, In : IEEE Transactions on Automatic Control. 62, 9, p. 4855-4861 7 p.

Research output: Contribution to journalArticleAcademicpeer-review

APA

Yang, Q., Fang, H., Chen, J., Jiang, Z., & Cao, M. (2017). Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems. IEEE Transactions on Automatic Control, 62(9), 4855-4861. https://doi.org/10.1109/TAC.2017.2696705

Author

Yang, Qingkai ; Fang, Hao ; Chen, Jie ; Jiang, Zhongping ; Cao, Ming. / Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems. In: IEEE Transactions on Automatic Control. 2017 ; Vol. 62, No. 9. pp. 4855-4861.

Harvard

Yang, Q, Fang, H, Chen, J, Jiang, Z & Cao, M 2017, 'Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems', IEEE Transactions on Automatic Control, vol. 62, no. 9, pp. 4855-4861. https://doi.org/10.1109/TAC.2017.2696705

Standard

Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems. / Yang, Qingkai; Fang, Hao; Chen, Jie; Jiang, Zhongping; Cao, Ming.

In: IEEE Transactions on Automatic Control, Vol. 62, No. 9, 28.08.2017, p. 4855-4861.

Research output: Contribution to journalArticleAcademicpeer-review

Vancouver

Yang Q, Fang H, Chen J, Jiang Z, Cao M. Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems. IEEE Transactions on Automatic Control. 2017 Aug 28;62(9):4855-4861. https://doi.org/10.1109/TAC.2017.2696705


BibTeX

@article{e801bd7f5d3d405f8742ea53f01ccc03,
title = "Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems",
abstract = "This paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong nonlinearity in unmeasurable states pose severe technical challenges to global output-feedback control design. To overcome these difficulties, a global nonsingular coordinate transformation matrix in the upper triangular form is firstly proposed such that the nonlinear dynamic model can be partially linearized with respect to the unmeasurable states. And, a new type of velocity observers is designed to estimate the unmeasurable velocities for each system. Then, based on the outputs of the velocity observers, we propose distributed control laws that enable the coordinated tracking control system to achieve UGAS (uniform global asymptotic stability). Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme.",
keywords = "NETWORKS, DYNAMICS, TRACKING CONTROL, LEADER, COORDINATION, OBSERVERS, CONSENSUS",
author = "Qingkai Yang and Hao Fang and Jie Chen and Zhongping Jiang and Ming Cao",
year = "2017",
month = "8",
day = "28",
doi = "10.1109/TAC.2017.2696705",
language = "English",
volume = "62",
pages = "4855--4861",
journal = "IEEE-Transactions on Automatic Control",
issn = "0018-9286",
publisher = "IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC",
number = "9",

}

RIS

TY - JOUR

T1 - Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems

AU - Yang, Qingkai

AU - Fang, Hao

AU - Chen, Jie

AU - Jiang, Zhongping

AU - Cao, Ming

PY - 2017/8/28

Y1 - 2017/8/28

N2 - This paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong nonlinearity in unmeasurable states pose severe technical challenges to global output-feedback control design. To overcome these difficulties, a global nonsingular coordinate transformation matrix in the upper triangular form is firstly proposed such that the nonlinear dynamic model can be partially linearized with respect to the unmeasurable states. And, a new type of velocity observers is designed to estimate the unmeasurable velocities for each system. Then, based on the outputs of the velocity observers, we propose distributed control laws that enable the coordinated tracking control system to achieve UGAS (uniform global asymptotic stability). Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme.

AB - This paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong nonlinearity in unmeasurable states pose severe technical challenges to global output-feedback control design. To overcome these difficulties, a global nonsingular coordinate transformation matrix in the upper triangular form is firstly proposed such that the nonlinear dynamic model can be partially linearized with respect to the unmeasurable states. And, a new type of velocity observers is designed to estimate the unmeasurable velocities for each system. Then, based on the outputs of the velocity observers, we propose distributed control laws that enable the coordinated tracking control system to achieve UGAS (uniform global asymptotic stability). Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme.

KW - NETWORKS

KW - DYNAMICS

KW - TRACKING CONTROL

KW - LEADER

KW - COORDINATION

KW - OBSERVERS

KW - CONSENSUS

U2 - 10.1109/TAC.2017.2696705

DO - 10.1109/TAC.2017.2696705

M3 - Article

VL - 62

SP - 4855

EP - 4861

JO - IEEE-Transactions on Automatic Control

JF - IEEE-Transactions on Automatic Control

SN - 0018-9286

IS - 9

ER -

ID: 37365850