Journal of Robotics, Networking and Artificial Life

Volume 2, Issue 1, June 2015, Pages 30 - 33

Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems

Authors
Hu Chen, Seong-Ik Han, Jang-Myung Lee
Corresponding Author
Hu Chen
Available Online 1 June 2015.
DOI
https://doi.org/10.2991/jrnal.2015.2.1.8How to use a DOI?
Keywords
Euler-Lagrange multi-agent system, backstepping control, Terminal virtual error surface
Abstract

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.

Copyright
© 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/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
2 - 1
Pages
30 - 33
Publication Date
2015/06/01
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
https://doi.org/10.2991/jrnal.2015.2.1.8How to use a DOI?
Copyright
© 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  - https://doi.org/10.2991/jrnal.2015.2.1.8
ID  - Chen2015
ER  -