Distributed tracking control of networked chained systems

被引：19
作者：
Dong, Wenjie [1 ]
机构：
[1] Univ Texas Pan Amer, Dept Elect Engn, Edinburg, TX 78539 USA
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2013年 / 86卷 / 12期
关键词：
distributed control; tracking control; nonholonomic system; nonlinear control; cooperative control; VARIABLE-STRUCTURE APPROACH; LEADER-FOLLOWING CONTROL; COOPERATIVE CONTROL; MULTIAGENT SYSTEMS; COORDINATED TRACKING; NONHOLONOMIC SYSTEMS; CONSENSUS SEEKING; STABILIZATION; INFORMATION; STABILITY;
D O I：
10.1080/00207179.2013.803156
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers distributed tracking control of multiple nonholonomic chained systems using neighbours' information. With the aid of the cascade structure of each system and properties of persistently excited signals, distributed state feedback tracking controllers and distributed output feedback tracking controllers are proposed such that the tracking errors exponentially converge to zero. To show applications of the proposed results, formation control of wheeled mobile robots is considered. Distributed controllers are obtained with the aid of the proposed theorems. Simulation results verify the effectiveness of the proposed results.
引用
收藏
页码：2159 / 2174
页数：16
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