کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
696296 890331 2014 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive tracking control of leader–follower systems with unknown dynamics and partial measurements
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Adaptive tracking control of leader–follower systems with unknown dynamics and partial measurements
چکیده انگلیسی

In this paper, a decentralized adaptive tracking control is developed for a second-order leader–follower system with unknown dynamics and relative position measurements. Linearly parameterized models are used to describe the unknown dynamics of a self-active leader and all followers. A new distributed system is obtained by using the relative position and velocity measurements as the state variables. By only using the relative position measurements, a dynamic output–feedback tracking control together with decentralized adaptive laws is designed for each follower. At the same time, the stability of the tracking error system and the parameter convergence are analyzed with the help of a common Lyapunov function method. Some simulation results are presented to validate the proposed adaptive tracking control.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 50, Issue 5, May 2014, Pages 1416–1423
نویسندگان
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