Adaptive formation control of networked Lagrangian systems with a moving leader

Yu, J; Ji, J; Miao, Z; Zhou, J

Adaptive formation control of networked Lagrangian systems with a moving leader

Yu, J Ji, J

Miao, Z Zhou, J

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Publication Type:: Journal Article
Citation:: Nonlinear Dynamics, 2017, 90 (4), pp. 2755 - 2766
Issue Date:: 2017-12-01

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Field	Value	Language
dc.contributor.author	Yu, J	en_US
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463	en_US
dc.contributor.author	Miao, Z	en_US
dc.contributor.author	Zhou, J	en_US
dc.date.issued	2017-12-01	en_US
dc.identifier.citation	Nonlinear Dynamics, 2017, 90 (4), pp. 2755 - 2766	en_US
dc.identifier.issn	0924-090X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/123385
dc.description.abstract	© 2017, Springer Science+Business Media B.V. This paper investigates the formation control problem of networked Lagrangian systems with a moving leader under the directed network topology. A special form of geometric pattern is introduced to design the desired formation for such systems. Three adaptive control strategies are proposed for the networked Lagrangian systems to achieve the formation for the cases of the absence and presence of time delays. Some simple yet general algebraic criteria are developed to ensure that the networked Lagrangian systems can always achieve desired geometric formation. Furthermore, the effect of communication time delays on the performance of formation control is numerically investigated. Finally, numerical examples are given to illustrate and visualize the effectiveness of the theoretical results.	en_US
dc.relation.ispartof	Nonlinear Dynamics	en_US
dc.relation.isbasedon	10.1007/s11071-017-3835-0	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Acoustics	en_US
dc.title	Adaptive formation control of networked Lagrangian systems with a moving leader	en_US
dc.type	Journal Article
utslib.citation.volume	4	en_US
utslib.citation.volume	90	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0915 Interdisciplinary Engineering	en_US
utslib.for	01 Mathematical Sciences	en_US
utslib.for	09 Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.issue	4	en_US
pubs.publication-status	Published	en_US
pubs.volume	90	en_US

Abstract:

© 2017, Springer Science+Business Media B.V. This paper investigates the formation control problem of networked Lagrangian systems with a moving leader under the directed network topology. A special form of geometric pattern is introduced to design the desired formation for such systems. Three adaptive control strategies are proposed for the networked Lagrangian systems to achieve the formation for the cases of the absence and presence of time delays. Some simple yet general algebraic criteria are developed to ensure that the networked Lagrangian systems can always achieve desired geometric formation. Furthermore, the effect of communication time delays on the performance of formation control is numerically investigated. Finally, numerical examples are given to illustrate and visualize the effectiveness of the theoretical results.

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http://hdl.handle.net/10453/123385