中国物理B ›› 2016, Vol. 25 ›› Issue (12): 128701-128701.doi: 10.1088/1674-1056/25/12/128701

• INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY • 上一篇    下一篇

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)   

  1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
  • 收稿日期:2016-05-11 修回日期:2016-06-27 出版日期:2016-12-05 发布日期:2016-12-05
  • 通讯作者: Chuan-Jiang Li E-mail:lichuan@hit.edu.cn
  • 基金资助:

    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).

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)   

  1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
  • Received:2016-05-11 Revised:2016-06-27 Online:2016-12-05 Published:2016-12-05
  • Contact: Chuan-Jiang Li E-mail:lichuan@hit.edu.cn
  • Supported by:

    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).

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摘要：

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.

关键词: surrounding control, Euler-Lagrange system, backstepping

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.

Key words: surrounding control, Euler-Lagrange system, backstepping

中图分类号:  (Control theory and feedback)

  • 87.19.lr
02.30.Yy (Control theory) 45.80.+r (Control of mechanical systems)