Cooperatively surrounding control for multiple Euler-Lagrange systems subjected to uncertain dynamics and input constraints

In this paper, we investigate cooperatively surrounding control （CSC） of multi-agent systems modeled by Euler- Lagrange （EL） equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed firs...

Full description

Saved in:
Bibliographic Details
Published inChinese physics B Vol. 25; no. 12; pp. 525 - 533
Main Author 陈亮名 吕跃勇 李传江 马广富
Format Journal Article
LanguageEnglish
Published 01.12.2016
Subjects
SC算法
动力学
协同
多Agent系统
拉格朗日系统
欧拉
环境控制
输入约束
Online AccessGet full text
ISSN1674-1056
2058-3834
DOI10.1088/1674-1056/25/12/128701

Cover

More Information
Summary:In this paper, we investigate cooperatively surrounding control （CSC） of multi-agent systems modeled by Euler- Lagrange （EL） equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed first such that the agents can move cooperatively to surround the stationary target. Then, a command filtered backstepping CSC algorithm is further proposed to deal with the constraints on control input and the absence of neighbors＇ velocity information. Numerical examples of eight satellites surrounding one space target illustrate the effectiveness of the theoretical results.
Bibliography:Liang-Ming Chen, Yue-Yong Lv, Chuan-Jiang Li, and Guang-Fu Ma（School of Astronautics, Harbin Institute of Technology, Harbin 150001, China）
In this paper, we investigate cooperatively surrounding control （CSC） of multi-agent systems modeled by Euler- Lagrange （EL） equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed first such that the agents can move cooperatively to surround the stationary target. Then, a command filtered backstepping CSC algorithm is further proposed to deal with the constraints on control input and the absence of neighbors＇ velocity information. Numerical examples of eight satellites surrounding one space target illustrate the effectiveness of the theoretical results.
11-5639/O4
surrounding control, Euler-Lagrange system, backstepping
ISSN:1674-1056
2058-3834
DOI:10.1088/1674-1056/25/12/128701