IEEE Trans Cybern. 2019 Jun;49(6):2190-2199. doi: 10.1109/TCYB.2018.2821700. Epub 2018 Apr 16.
This paper further improves the results for the leader-following rendezvous problem for multiple uncertain Euler-Lagrange systems. Based on a self-tuning adaptive observer, which can work under the more relaxed assumption that the information of the leader system is only available to informed followers in the rendezvous network, a full state distributed control law, depending only on the neighbor's information, is first proposed to preserve the connectivity of the initially connected rendezvous network, as well as to achieve the asymptotic tracking of leader's signal. And then such full state control strategy is further improved to be independent of the relative velocity of two neighboring agents by introducing an additional time-varying nonlinear term, determined by potential function. At the same time, dynamic gains are also introduced to make control parameter independent of system dynamics.
本文进一步提高了多不确定 Euler-Lagrange 系统的领导者-跟随者会合问题的结果。基于自调整自适应观测器，该观测器可以在更宽松的假设下工作，即领导者系统的信息仅在会合网络中知情的跟随者处可用，首先提出了一种全状态分布式控制律，该控制律仅依赖于邻居的信息，以保持初始连接的会合网络的连通性，并实现对领导者信号的渐近跟踪。然后，通过引入由势函数确定的附加时变非线性项，进一步改进了这种全状态控制策略，使其与两个相邻代理的相对速度无关。同时，还引入了动态增益，以使控制参数与系统动力学无关。
