Distributed Formation Maneuver Control of Networked Euler-Lagrange Systems

YANG Jikang; YU Jinwei; YANG Weihua

doi:10.21656/1000-0887.430130

Volume 44 Issue 7

Jul. 2023

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Article Navigation > Applied Mathematics and Mechanics > 2023 > 44(7): 870-883

YANG Jikang, YU Jinwei, YANG Weihua. Distributed Formation Maneuver Control of Networked Euler-Lagrange Systems[J]. Applied Mathematics and Mechanics, 2023, 44(7): 870-883. doi: 10.21656/1000-0887.430130

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Distributed Formation Maneuver Control of Networked Euler-Lagrange Systems

doi: 10.21656/1000-0887.430130

School of Mathematics, Taiyuan University of Technology, Taiyuan 030600, P.R.China

Received Date: 2022-04-27
Rev Recd Date: 2023-06-11
Publish Date: 2023-07-01

Abstract

Abstract

The adaptive formation maneuver control of networked Euler-Lagrange systems was studied. By means of the sliding mode control approach, an adaptive formation maneuver control algorithm was proposed. Based on the Lyapunov stability theory, the stability of the closed-loop system was proved. The remarkable feature of the algorithm is the special directed network topology introduced to describe the communication interaction behavior between agents. Hence, without the need for knowing or estimating the time-varying maneuver parameters only known to the leaders, the followers in the system can realize the changes of formation continuously, including the scale, the direction, the displacement and the shape. Numerical simulation results verify the effectiveness of the proposed control scheme.
- formation maneuver control,
- distributed control,
- networked Euler-Lagrange system,
- sliding mode control

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References

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