Robust consensus tracking control of multiple mechanical systems under fixed and switching interaction topologies

Consensus tracking problems for multiple mechanical systems are considered in this paper, where information communications are limited between individuals and the desired trajectory is available to only a subset of the mechanical systems. A distributed tracking algorithm based on computed torque app...

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Bibliographic Details
Published in:PloS one Vol. 12; no. 5; p. e0178330
Main Authors: Liu, Jianhui, Zhang, Bin
Format: Journal Article
Language:English
Published: United States Public Library of Science 25.05.2017
Public Library of Science (PLoS)
Subjects:
Algorithms
Automation
Computer and Information Sciences
Control algorithms
Control systems
Control theory
Cooperation
Cybernetics
Design
Electrical engineering
Engineering
Event-related potentials
Feedback
Mathematical models
Mechanical systems
Neural networks
Nodes
Nonlinear systems
Numerical analysis
Numerical simulations
Optimization
Physical Sciences
Physical training
Problems
Research and Analysis Methods
Robotics
Robots
Robust control
Sensors
Simulation
Systems stability
Telecommunications
Topology
Tracking control
Velocity
Wireless networks
China
Beijing China
ISSN:1932-6203, 1932-6203
Online Access:Get full text
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Description
Summary:Consensus tracking problems for multiple mechanical systems are considered in this paper, where information communications are limited between individuals and the desired trajectory is available to only a subset of the mechanical systems. A distributed tracking algorithm based on computed torque approach is proposed in the fixed interaction topology case, in which a robust feedback term is developed for each agent to estimate the external disturbances and the unknown agent dynamics. Then the result is extended to address the case under switching interaction topologies by using Lyapunov approaches and sufficient conditions are given. Two examples and numerical simulations are presented to validate the effectiveness of the proposed robust tracking method.
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Competing Interests: The authors have declared that no competing interests exist.
Conceptualization: BZ. Data curation: JL. Formal analysis: BZ. Funding acquisition: BZ. Investigation: JL. Methodology: BZ. Project administration: BZ. Resources: JL. Software: JL. Supervision: BZ. Validation: JL. Visualization: JL. Writing – original draft: JL. Writing – review & editing: BZ.
ISSN:1932-6203
1932-6203
DOI:10.1371/journal.pone.0178330