Network Euler-Lagrange Coordinate Tracking Control System

Study on synchronization control of multiple mechanical systems depicted byEuler-Lagrange equations has important signifcance. Therefore in recent years, ithas caused interests of domestic and abroad experts and scholars. In this paper,the coordination tracking control problems of Networked Euler-Lagrange Systems(NELS) are considered, the major contents are consisted of the following parts:To begin with, the studied problem is the distributed attitude coordinationcontrol of NELS with modeling uncertainties and unknown external disturbances.First, the continuous control law is designed under undirected topology. It is shownthat with the proposed control algorithm, all followers can track the dynamic leaderasymptotically. Then, under undirected topology there proposes continuous controllaws which guarantee asymptotic stability of the closed-loop system.Then, the fnite-time coordination problems of NELS are studied. For a staticleader, based on fnite-time control technology, coordination tracking algorithm isfrst proposed which guarantee fnite-time stability of the closed-loop system. Then,by introducing bounded functions, coordination tracking control law for NELS withinput constraints is developed. For a dynamic leader, coordination tracking controllaw and saturated coordination tracking control law are proposed to realize thetracking of leader in the fnite time.For both parts, numerical simulation system is established to perform simulationand verifcation of the proposed coordination tracking algorithm. The simulationresults show the feasibility and efectiveness of the designed control algorithms inthis dissertation.