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Luyan Xu,Chaoli Wang,Xuan Cai,Shuanghe Yu,Yan Yan,Gang Wang 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7
For an actual control system, the position information is usually an indispensable physical quantity for feedback control, while in an actual project, the position quantity is generally constrained. This paper discusses the distributed leader-following consensus control problem of networked Euler-Lagrangian systems (ELSs) both with unknown control directions and position constrains under a directed topology. Two novel types of barrier Lyapunov functions together with a Nussbaum-type gain function are employed to design distributed leader-following consensus protocol under a directed graph in this paper. One Lyapunov function is used to ensure that all the signals in the closed-loop system are bounded and the other is designed to prove that the consensus tracking errors of all the followers are uniformly ultimately bounded (UUB) and can be adjusted arbitrarily small. Meanwhile, according to the analysis of the tracking procedure, the security problem of position constraints are always satisfied. Finally, simulation examples are given to verify the effectiveness of the proposed algorithms in this paper.
Yujing Xu,Chaoli Wang,Gang Wang,Xuan Cai,Luyan Xu,Chonglin Jing 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12
When the actuator faults and the control directions are unknown, the difficulty of the asymptotically tracking control of the surface vessel will increase. In this paper, for actuator failures and unknown control directions, a distributed adaptive asymptotically synchronous tracking control law for multiple uncertain underactuated surface vessels (USVs) is proposed, which can achieve network connectivity and good tracking performance in a limited communication range. First, a distributed nonlinear error surface is introduced to achieve synchronous tracking between USVs and maintain the initial connectivity patterns. Second, a conditional inequality is proposed to solve the problems of unknown actuator failures and unknown control directions. Then, combined with the derived technical lemmas and Barbalat’s lemma, the stability of the closed loop system is proved by the Lyapunov method. Finally, a simulation example verifies the theoretical results.