Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems
- 10.2991/jrnal.2015.2.1.8How to use a DOI?
- Euler-Lagrange multi-agent system, backstepping control, Terminal virtual error surface
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.
- © 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/).
Cite this article
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 -