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Chin. Phys. B, 2016, Vol. 25(12): 128701    DOI: 10.1088/1674-1056/25/12/128701
INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY Prev   Next  

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

Liang-Ming Chen(陈亮名), Yue-Yong Lv(吕跃勇), Chuan-Jiang Li(李传江), Guang-Fu Ma(马广富)
School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
Abstract  

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.

Keywords:  surrounding control      Euler-Lagrange system      backstepping  
Received:  11 May 2016      Revised:  27 June 2016      Accepted manuscript online: 
PACS:  87.19.lr (Control theory and feedback)  
  02.30.Yy (Control theory)  
  45.80.+r (Control of mechanical systems)  
Fund: 

Project supported by the National Basic Research Program of China (Grant No. 2012CB720000) and the National Natural Science Foundation of China (Grant Nos. 61304005 and 61403103).

Corresponding Authors:  Chuan-Jiang Li     E-mail:  lichuan@hit.edu.cn

Cite this article: 

Liang-Ming Chen(陈亮名), Yue-Yong Lv(吕跃勇), Chuan-Jiang Li(李传江), Guang-Fu Ma(马广富) Cooperatively surrounding control for multiple Euler-Lagrange systems subjected to uncertain dynamics and input constraints 2016 Chin. Phys. B 25 128701

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