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dc.contributor.authorYe, Mengbin
dc.contributor.authorAnderson, B.D.O.
dc.contributor.authorYu, C.
dc.date.accessioned2021-07-06T12:24:33Z
dc.date.available2021-07-06T12:24:33Z
dc.date.issued2019
dc.identifier.citationYe, M. and Anderson, B.D.O. and Yu, C. 2019. Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm. IEEE Transactions on Control of Network Systems. 6 (2): pp. 561-571.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/84353
dc.identifier.doi10.1109/TCNS.2018.2856298
dc.description.abstract

In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with nonconstant velocity. We initially study a fixed network and show that the leader tracking objective is achieved semiglobally exponentially fast if the graph contains a directed spanning tree. By model independent, we mean that each agent executes its algorithm with no knowledge of the parameter values of any agent's dynamics. Certain bounds on the agent dynamics (including any disturbances) and network topology information are used to design the control gain. This fact, combined with the algorithm's model independence, results in robustness to disturbances and modeling uncertainties. Next, a continuous approximation of the algorithm is proposed, which achieves practical tracking with an adjustable tracking error. Last, we show that the algorithm is stable for networks that switch with an explicitly computable dwell time. Numerical simulations are given to show the algorithm's effectiveness.

dc.languageEnglish
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.sponsoredbyhttp://purl.org/au-research/grants/arc/ DP160104500
dc.subjectScience & Technology
dc.subjectTechnology
dc.subjectAutomation & Control Systems
dc.subjectComputer Science, Information Systems
dc.subjectComputer Science
dc.subjectDirected graph
dc.subjectdistributed algorithm
dc.subjectEuler-Lagrange agent
dc.subjectmodel independent
dc.subjectswitching network
dc.subjecttracking
dc.subjectSYSTEMS
dc.subjectSYNCHRONIZATION
dc.subjectCONSENSUS
dc.titleLeader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm
dc.typeJournal Article
dcterms.source.volume6
dcterms.source.number2
dcterms.source.startPage561
dcterms.source.endPage571
dcterms.source.issn2325-5870
dcterms.source.titleIEEE Transactions on Control of Network Systems
dc.date.updated2021-07-06T12:24:30Z
curtin.note

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

curtin.departmentSchool of Electrical Engineering, Computing and Mathematical Sciences (EECMS)
curtin.accessStatusOpen access
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]
dcterms.source.eissn2325-5870
curtin.contributor.scopusauthoridYe, Mengbin [56203529600]


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