Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems

DOI

10.2991/jrnal.2015.2.1.8How to use a DOI?

Keywords

Euler-Lagrange multi-agent system, backstepping control, Terminal virtual error surface

Abstract

This paper presents a distributed terminal (finite-time) backstepping consensus control for multi-agent Euler-Lagrange systems. Terminal virtual error surfaces and virtual controls are proposed to guarantee the finite-time error consensus and formation convergence of a group of one-leader and multi-follower cooperative tracking Euler-Lagrange system.Finite-time stability including infinite-time stability was proved by the finite-time Lyapunov candidate function. Simulation example shows the effectiveness of the proposed finite-time backstepping coordinated tracking controller.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - JOUR
AU  - Hu Chen
AU  - Seong-Ik Han
AU  - Jang-Myung Lee
PY  - 2015
DA  - 2015/06/01
TI  - Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 30
EP  - 33
VL  - 2
IS  - 1
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2015.2.1.8
DO  - 10.2991/jrnal.2015.2.1.8
ID  - Chen2015
ER  -