| With the development of embedded technology and internet communicationtechnology, distributed systems have been found in applications in a variety of areas,such as intelligent vehicle highway systems, formation control of unmanned aerialvehicles, and water distribution networks, etc. In this paper, we study a distributedcoordinated tracking problem for networked Euler-Lagrange systems under a directedgraph. The distributed control law is designed to ensure that a team of followers in thepresence of parametric uncertainties to track a leader under the constraint that only asubset of the followers can receive the information of the leader. In addition, since theactual system usually undergoes actuator failures, the fault-tolerant controller isdeveloped, which does not depend on the fault detection and diagnosis. Simulation andexperiment results show the effectiveness of the proposed control algorithm. The maincontributions of this paper are as follows:â‘ Under the condition that only a subset of followers have access to the leader,sliding mode estimators are developed to estimate the states of the dynamic leaderaccurately in finite time. The fuzzy adaptive control law is developed in the presence ofparametric uncertainties to ensure all followers can track the leader.â‘¡For the distributed coordination system with directed topologies, additivefaults and the partial loss of actuator effectiveness are considered simultaneously andan auxiliary controller is designed in addition to the nominal controller to compensatefor the system faults. This auxiliary controller does not use any fault detection andisolation mechanism to detect, separate, and identify the actuator faults online.â‘¢We have developed a multi-manipulator experimental platform. The proposeddistributed fuzzy adaptive law and distributed fault tolerant control law are carried onthe experiment platform. The effectiveness of the proposed algorithm is verified throughthe experimental results. |
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