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dc.contributor.authorYe, Mengbin
dc.contributor.authorAnderson, B.D.O.
dc.contributor.authorYu, C.
dc.date.accessioned2021-07-06T12:41:47Z
dc.date.available2021-07-06T12:41:47Z
dc.date.issued2016
dc.identifier.citationYe, M. and Anderson, B.D.O. and Yu, C. 2016. Model-independent trajectory tracking of Euler-Lagrange agents on directed networks. In: 55th IEEE Conference on Decision and Control (CDC), 12th Dec 2016, Las Vegas, NV.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/84364
dc.identifier.doi10.1109/CDC.2016.7799335
dc.description.abstract

The problem of trajectory tracking of a moving leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics is studied in this paper using a distributed, model-independent control law. We show that if the directed graph contains a directed spanning tree, with the leader as the root node, then a model-independent algorithm semi-globally achieves the trajectory tracking objective exponentially fast. By model-independent we mean that each agent can execute the algorithm with no knowledge of the agent self-dynamics, though reasonably, certain bounds are known. For stability, a pair of control gains for each agent are required to satisfy lower bounding inequalities and so design of the algorithm is centralised and requires some limited knowledge of global information. Numerical simulations are provided to illustrate the algorithm's effectiveness.

dc.languageEnglish
dc.publisherIEEE
dc.subjectScience & Technology
dc.subjectTechnology
dc.subjectAutomation & Control Systems
dc.subjectEngineering, Electrical & Electronic
dc.subjectOperations Research & Management Science
dc.subjectEngineering
dc.subjectSYSTEMS
dc.subjectSYNCHRONIZATION
dc.subjectCOORDINATION
dc.titleModel-independent trajectory tracking of Euler-Lagrange agents on directed networks
dc.typeConference Paper
dcterms.source.startPage6921
dcterms.source.endPage6927
dcterms.source.issn0743-1546
dcterms.source.title2016 IEEE 55th Conference on Decision and Control, CDC 2016
dcterms.source.isbn9781509018376
dcterms.source.conference55th IEEE Conference on Decision and Control (CDC)
dcterms.source.conference-start-date12 Dec 2016
dcterms.source.conferencelocationLas Vegas, NV
dc.date.updated2021-07-06T12:41:47Z
curtin.departmentSchool of Elec Eng, Comp and Math Sci (EECMS)
curtin.accessStatusOpen access
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]
dcterms.source.conference-end-date14 Dec 2016
curtin.contributor.scopusauthoridYe, Mengbin [56203529600]


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