Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/524286
Title: Leader–Follower Coordinated Tracking of Multiple Heterogeneous Lagrange Systems Using Continuous Control
Authors: ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden;Ziyang Meng ; Dimarogonas, Dimos V. ; Johansson, Karl H.
subject: adaptive control; multi-robot systems; tracking; adaptive coupling gains; chattering-free control; continuous control; continuous coordinated tracking algorithms; dynamic leader; global asymptotic coordinated tracking; leader-follower coordinated tracking; multiple heterogeneous Lagrange systems; tracking errors; Couplings; Heuristic algorithms; Lead; Manipulators; Robot kinematics; Vectors; Continuous control algorithms; coordinated tracking; multiple heterogeneous Lagrange systems;
Year: 2014
Publisher: IEEE
Abstract: In this paper, we study the coordinated tracking problem of multiple heterogeneous Lagrange systems with a dynamic leader. Only nominal parameters of Lagrange dynamics are assumed to be available. Under the local interaction constraints, i.e., the followers only have access to their neighbors' information and the leader being a neighbor of only a subset of the followers, continuous coordinated tracking algorithms with adaptive coupling gains are proposed. Except for the benefit of the chattering-free control achieved, the proposed algorithm also has the attribute that it does not require the neighbors' generalized coordinate derivatives. Global asymptotic coordinated tracking is guaranteed, and the tracking errors between the followers and the leader are shown to converge to zero. Examples are given to validate the effectiveness of the proposed algorithms.
URI: http://localhost/handle/Hannan/237182
http://localhost/handle/Hannan/524286
ISSN: 1552-3098
volume: 30
issue: 3
Appears in Collections:2014

Files in This Item:
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6692887.pdf598.38 kBAdobe PDF
Title: Leader–Follower Coordinated Tracking of Multiple Heterogeneous Lagrange Systems Using Continuous Control
Authors: ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden;Ziyang Meng ; Dimarogonas, Dimos V. ; Johansson, Karl H.
subject: adaptive control; multi-robot systems; tracking; adaptive coupling gains; chattering-free control; continuous control; continuous coordinated tracking algorithms; dynamic leader; global asymptotic coordinated tracking; leader-follower coordinated tracking; multiple heterogeneous Lagrange systems; tracking errors; Couplings; Heuristic algorithms; Lead; Manipulators; Robot kinematics; Vectors; Continuous control algorithms; coordinated tracking; multiple heterogeneous Lagrange systems;
Year: 2014
Publisher: IEEE
Abstract: In this paper, we study the coordinated tracking problem of multiple heterogeneous Lagrange systems with a dynamic leader. Only nominal parameters of Lagrange dynamics are assumed to be available. Under the local interaction constraints, i.e., the followers only have access to their neighbors' information and the leader being a neighbor of only a subset of the followers, continuous coordinated tracking algorithms with adaptive coupling gains are proposed. Except for the benefit of the chattering-free control achieved, the proposed algorithm also has the attribute that it does not require the neighbors' generalized coordinate derivatives. Global asymptotic coordinated tracking is guaranteed, and the tracking errors between the followers and the leader are shown to converge to zero. Examples are given to validate the effectiveness of the proposed algorithms.
URI: http://localhost/handle/Hannan/237182
http://localhost/handle/Hannan/524286
ISSN: 1552-3098
volume: 30
issue: 3
Appears in Collections:2014

Files in This Item:
File SizeFormat 
6692887.pdf598.38 kBAdobe PDF
Title: Leader–Follower Coordinated Tracking of Multiple Heterogeneous Lagrange Systems Using Continuous Control
Authors: ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden;Ziyang Meng ; Dimarogonas, Dimos V. ; Johansson, Karl H.
subject: adaptive control; multi-robot systems; tracking; adaptive coupling gains; chattering-free control; continuous control; continuous coordinated tracking algorithms; dynamic leader; global asymptotic coordinated tracking; leader-follower coordinated tracking; multiple heterogeneous Lagrange systems; tracking errors; Couplings; Heuristic algorithms; Lead; Manipulators; Robot kinematics; Vectors; Continuous control algorithms; coordinated tracking; multiple heterogeneous Lagrange systems;
Year: 2014
Publisher: IEEE
Abstract: In this paper, we study the coordinated tracking problem of multiple heterogeneous Lagrange systems with a dynamic leader. Only nominal parameters of Lagrange dynamics are assumed to be available. Under the local interaction constraints, i.e., the followers only have access to their neighbors' information and the leader being a neighbor of only a subset of the followers, continuous coordinated tracking algorithms with adaptive coupling gains are proposed. Except for the benefit of the chattering-free control achieved, the proposed algorithm also has the attribute that it does not require the neighbors' generalized coordinate derivatives. Global asymptotic coordinated tracking is guaranteed, and the tracking errors between the followers and the leader are shown to converge to zero. Examples are given to validate the effectiveness of the proposed algorithms.
URI: http://localhost/handle/Hannan/237182
http://localhost/handle/Hannan/524286
ISSN: 1552-3098
volume: 30
issue: 3
Appears in Collections:2014

Files in This Item:
File SizeFormat 
6692887.pdf598.38 kBAdobe PDF