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| 1 | Formation control of multiple Euler-Lagrange systems via null-space-based behavioral control显示文摘This paper addresses the formation control problem of multiple Euler-Lagrange systems with model uncertainties in the environment containing obstacles. Utilizing the null-space-based(NSB) behavioral control architecture, the proposed problem can be decomposed into elementary missions(behaviors) with different priorities and implemented by each individual system. A class of novel coordination control algorithms is constructed and utilized to achieve accurate formation task while avoiding obstacles and guaranteeing the model uncertainty rejection objective. By using sliding mode control and Lyapunov theory, the formation performance in closed-loop multi-agent systems is proven achievable if the state-dependent gain of the obstacle avoidance mission is appropriately designed. Finally, simulation examples demonstrate the effectiveness of the algorithms. | Jie CHEN Minggang GAN Jie HUANG Lihua DOU Hao FANG | 2016 | Science China(Information Sciences)2016，59，1： | 12 |
| 2 | Backstepping-based distributed coordinated tracking formultiple uncertain Euler-Lagrange systems显示文摘Based on the idea of backstepping design, distributed coordinated tracking problems under directed topology are discussed for multiple Euler-Lagrange(EL) systems. The dynamic leader case is considered. First, with the parameter-linearity property, a distributed coordinated adaptive control scheme is proposed for EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by using neural-network(NN) approximation of nonlinear functions. Both proposed algorithms can make tracking errors for each follower ultimately bounded. The closed-loop systems are investigated by using the combination of graph theory, Lyapunov theory, and Barbalat Lemma. Numerical examples and comparisons with other methods are provided to show the effectiveness of the proposed control strategies. | yanchao sun wenjia wang guangfu ma zhuo li chuanjiang li | 2016 | Journal of Systems Engineering and Electronics2016，27，5： | 4 |
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