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Polynomial trajectory tracking of networked Euler-Lagrange systems
Long Cheng; Zeng-Guang Hou; Min Tan; Guibin Bian
2014
Conference Name33rd Chinese Control Conference (CCC)
Conference DateJUL 28-30, 2014
Conference PlaceNanjing
CountryChina
AbstractThe coordinated tracking problem of networked Euler-Lagrange systems is studied in this paper. According to the knowledge of classical control, an integral term can eliminate the steady-state error when solving the tracking problem. A proportional-integral-derivative (PID) tracking protocol is then first proposed to solve the tracking problem of Euler-Lagrange systems where the leader has a quadratic trajectory. By properly choosing parameters, it is proved that all followers can asymptotically track the leader's quadratic trajectory if the communication topology graph has a spanning tree. Furthermore, a so-called (PID)-D-m tracking protocol is derived by adding some high-order integral terms. It is shown that this (PID)-D-m tracking protocol can solve the tracking problem of networked Euler-Lagrange systems with a leader having the higher-order polynomial trajectory. Finally, two simulation examples are presented to demonstrate the effectiveness of the proposed protocol.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23142
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Long Cheng,Zeng-Guang Hou,Min Tan,et al. Polynomial trajectory tracking of networked Euler-Lagrange systems[C],2014.
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