Adaptive-Neural Constrained Cooperative Control of Euler-Lagrange Systems
Publish Year: 1401
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
NEEC06_005
تاریخ نمایه سازی: 30 تیر 1401
Abstract:
A control design for Euler-Lagrange systems in the presence of model uncertainties with an output constraint is proposed here. To design a formation control system, an Euler-Lagrange dynamic model is adopted based on the leader-following strategy. A symmetric barrier Lyapunov function (BLF), which advances to infinity when its arguments reach a finite limits is applied in preventing the state variables from violating constraints. Lyapunov method is adopted to reveal all signals of the closed-loop system which are bounded and the formation tracking errors are semi-globally uniformly ultimately bounded (SUUB). The computer simulation results demonstrate the efficacy of this newly proposed formation controller for Euler-Lagrange systems.
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Authors
Amir Naderolasli
Department of ElectricalEngineering, Najafabad Branch,Islamic Azad University,Najafabad, Iran.
Khoshnam Shojaei
Digital Processing and MachineVision Research Center,Najafabad Branch, Islamic AzadUniversity, Najafabad, Iran.
Abbas Chatraei
Digital Processing and MachineVision Research Center,Najafabad Branch, Islamic AzadUniversity, Najafabad, Iran.