Cooperatively surrounding control for multiple Euler-Lagrange systems subjected to uncertain dynamics and input constraints

In this paper, we investigate cooperatively surrounding control （CSC） of multi-agent systems modeled by Euler- Lagrange （EL） equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed firs...

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Bibliographic Details
Published in:Chinese physics B 2016-12, Vol.25 (12), p.525-533
Main Author: 陈亮名 吕跃勇 李传江 马广富
Format: Article
Language:English
Subjects:
SC算法
动力学
协同
多Agent系统
拉格朗日系统
欧拉
环境控制
输入约束
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Summary:In this paper, we investigate cooperatively surrounding control （CSC） of multi-agent systems modeled by Euler- Lagrange （EL） equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed first such that the agents can move cooperatively to surround the stationary target. Then, a command filtered backstepping CSC algorithm is further proposed to deal with the constraints on control input and the absence of neighbors＇ velocity information. Numerical examples of eight satellites surrounding one space target illustrate the effectiveness of the theoretical results.
ISSN:1674-1056
2058-3834
DOI:10.1088/1674-1056/25/12/128701