1. Dynamic Consensus Tracking of Uncertain Lagrangian Systems With a Switched Command Generator.
- Author
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Cai, He and Hu, Guoqiang
- Subjects
- *
UNCERTAIN systems , *TRACKING control systems , *CLOSED loop systems , *SET functions , *NONLINEAR systems - Abstract
This paper studies the consensus tracking problem of uncertain Lagrangian systems. In contrast to the existing results where the command signals are sufficiently smooth, we consider a class of nonsmooth command signals generated by a switched command generator, which might be more realistic from the perspective of practical applications. The main technical innovations of this paper are threefold. First, to enable a rigorous problem formulation, some piecewise decaying function sets are defined to precisely describe the steady-state behaviors of the tracking errors. Second, to ensure the stability of the switched nonlinear closed-loop system, a system-based scaling method with the establishment of several lemmas is developed to determine the minimal dwell time of the switching signal. Third, a quantitative analysis is performed to acquire the ultimate bound for the steady-state tracking errors. The proposed control approach is evaluated by a simulation example. [ABSTRACT FROM AUTHOR]
- Published
- 2019
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