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Adaptive Coordinated Tracking for Networked Euler-Lagrange Systems under a Directed Graph

MEI Jie1 ZHANG Hai-Bo1 MA Guang-Fu11.Department of Control Science and Engineering,Harbin Institute of Technology,Harbin 150001  
In this paper,we study a distributed coordinated tracking problem for networked Euler-Lagrange systems under a directed graph based on consensus theory.The purpose is for a team of followers modeled by Euler-Lagrange equations in the presence of parametric uncertainties to track a leader under the constraint that only a subset of the followers can receive the information of the leader.We consider two cases:1) the leader is a stationary point;2) the leader is a moving point.In the first case,we propose a distributed adaptive control algorithm,by which all followers can rendezvous at the stationary point asymptotically.In the second case,we propose a distributed continuous estimator and a distributed adaptive control algorithm.We show that with the proposed control algorithm,all followers can track the dynamic leader asymptotically if the acceleration of the leader is known to each follower,and we give a bound of the tracking error if the acceleration of the leader is unknown.Simulation results are provided to show the effectiveness of the proposed control algorithms.
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