Leader-following consensus with disturbance rejection for uncertain Euler-Lagrange systems over switching networks

In this article, we study the leader-following consensus problem for multiple Euler–Lagrange (EL) systems with natural damping over static and connected communication networks by a distributed position feedback control law. By combining the adaptive distributed observer for a leader system and the dynamic compensator technique for dealing with a single EL system by position feedback control, we synthesize a distributed position feedback control law and show that this control law solves the leader-following consensus problem for multiple EL systems with natural damping. A numerical example will be used to illustrate our design.

Leader-Following Consensus for Multiple Euler–Lagrange Systems by Distributed Position Feedback Control

Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time derivative are assumed to be bounded <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori , or the uncertainty is assumed to be parametrized by some structure-dependent factorization. This work proposes a variant of AISMC with reduced <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori knowledge of the system uncertainty: it is shown that Euler–Lagrange dynamics typical of sliding mode literature admit a structure-independent parametrization of the system uncertainty. This parametrization is not the result of structural knowledge, but it comes from basic properties of Euler–Lagrange dynamics, valid independently on the structure of the system. The AISMC control method arising from this parametrization is analyzed in the Lyapunov stability framework, and validated in systems with different structures: a surface vessel and an aerial vehicle.

/pdf/adaptive-integral-sliding-mode-control-in-the-presence-of-1wdsah46.pdf

Adaptive Integral Sliding Mode Control in the Presence of State-Dependent Uncertainty

In this note, a node-augment mechanism is proposed to handle the problem of privacy preservation for a leader-following multi-agent system, where for each real node (agent) of the multi-agent system an associated virtual node is introduced. The real node and the associated virtual node form a directed node pair with the state information of virtual node sent to the real node, and information exchanges occur among virtual nodes of neighboring node pairs. It is proved rigorously that both the leader-following consensus and privacy preservation of real nodes’ state are achieved by appropriately designing control protocol. Finally, numerical simulation shows the effectiveness of the proposed algorithm.

Privacy-Preserving Leader-Following Consensus via Node-Augment Mechanism

This brief investigates the tracking control of robot manipulators with output constraints. A novel finite-time adaptive event-triggered command filtered backstepping scheme is given, in which the command filters are utilized to avoid the direct differentials of virtual control signal and the compensation mechanism is used to eliminate filtering errors. The barrier Lyapunov functions are employed to ensure the outputs are constrained in the predefined region, and the finite-time control with fraction-power signals can help the closed-loop system get better convergence rate and steady-state performance. Moreover, the relative threshold-event-triggered mechanism is used to reduce the resource waste and communication burden effectively. A simulation model of 2-DOF robot manipulator is employed to demonstrate the proposed algorithm. 

Finite-Time Adaptive Event-Triggered Control for Robot Manipulators With Output Constraints

The leader-following consensus problem for a class of multiple robot manipulators subject to a static and connected network has been studied recently by a distributed position feedback control law. In this technical note, we will further study the same problem under a switching network satisfying the jointly connected condition. Since the switching network can be disconnected at every time instant, the approach in the literature does not apply to the problem in this technical note. To deal with the disconnected switching network, we adopt the adaptive distributed observer approach to synthesize a distributed position feedback control law. It turns out that this control law solves the leader-following consensus problem for the class of multiple robot manipulators. The effectiveness of this new result is validated by an example.

Leader-Following Consensus for a Class of Multiple Robot Manipulators over Switching Networks by Distributed Position Feedback Control

Leader-following consensus of multiple rigid body systems by a sampled-data distributed observer

In this paper, we study the exponential attitude tracking and disturbance rejection problem of rigid body systems. We design a control law for the rigid body system that ensures the exponential convergence of the attitude tracking error and the angular velocity tracking error in the presence of unknown external disturbances. Furthermore, by tuning some design parameters, the exponential convergence rate can be made arbitrarily fast. The effectiveness of our approach is validated by a numerical example.

Exponential attitude tracking and disturbance rejection of rigid body systems

Various control problems for quadrotor helicopter have been studied in the literature. In this paper, we will study the trajectory tracking and disturbance rejection problem for a generic model of quadrotor helicopter with the attitude being represented by unit quatemion. In our problem formulation, the translational dynamics of the system are subject to external disturbances generated by an exosystem, the position reference trajectory is also generated by the exosystem, and the attitude reference trajectory is some smooth time function. We deal with the attitude control and the position control by feedback linearization and output regulation theory, respectively. We show that, by appropriately specifying the attitude reference trajectory, our problem is solvable by combining the attitude control law and the position control law. A numerical example is used to illustrate our design.

Trajectory Tracking and Disturbance Rejection for Quadrotor Helicopter by a Novel Method

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