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Dynamic Consensus Tracking of Uncertain Lagrangian Systems With a Switched Command Generator.
- Source :
-
IEEE Transactions on Automatic Control . Oct2019, Vol. 64 Issue 10, p4260-4267. 8p. - Publication Year :
- 2019
-
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]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 64
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 138896384
- Full Text :
- https://doi.org/10.1109/TAC.2019.2893874