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Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph
- Source :
-
Automatica . Apr2012, Vol. 48 Issue 4, p653-659. 7p. - Publication Year :
- 2012
-
Abstract
- Abstract: In this paper, we study the distributed containment control problem for networked Lagrangian systems with multiple dynamic leaders in the presence of parametric uncertainties under a directed graph that characterizes the interaction among the leaders and the followers. We propose a distributed adaptive control algorithm combined with distributed sliding-mode estimators. A necessary and sufficient condition on the directed graph is presented such that all followers converge to the dynamic convex hull spanned by the dynamic leaders asymptotically. As a byproduct, we show a necessary and sufficient condition on leaderless consensus for networked Lagrangian systems under a directed graph. Numerical simulation results are given to show the effectiveness of the proposed control algorithms. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 00051098
- Volume :
- 48
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- Automatica
- Publication Type :
- Academic Journal
- Accession number :
- 73526534
- Full Text :
- https://doi.org/10.1016/j.automatica.2012.01.020