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Adaptive formation control of networked Lagrangian systems with a moving leader

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Abstract

This paper investigates the formation control problem of networked Lagrangian systems with a moving leader under the directed network topology. A special form of geometric pattern is introduced to design the desired formation for such systems. Three adaptive control strategies are proposed for the networked Lagrangian systems to achieve the formation for the cases of the absence and presence of time delays. Some simple yet general algebraic criteria are developed to ensure that the networked Lagrangian systems can always achieve desired geometric formation. Furthermore, the effect of communication time delays on the performance of formation control is numerically investigated. Finally, numerical examples are given to illustrate and visualize the effectiveness of the theoretical results.

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Acknowledgements

The authors would like to thank the editor and the anonymous reviewers for their insightful and constructive comments, on which the quality of the paper has been improved. This work was supported by the National Science Foundation of China (Nos. 11672169, 51375293, and 11272191).

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Authors and Affiliations

  1. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University, Shanghai, 200072, China

    Jinwei Yu & Jin Zhou

  2. Faculty of Engineering and IT, University of Technology Sydney, PO. Box 123, Broadway, Sydney, NSW, 2007, Australia

    Jinchen Ji

  3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072, China

    Zhonghua Miao

Authors
  1. Jinwei Yu
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  2. Jinchen Ji
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  3. Zhonghua Miao
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  4. Jin Zhou
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Correspondence to Zhonghua Miao or Jin Zhou.

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Yu, J., Ji, J., Miao, Z. et al. Adaptive formation control of networked Lagrangian systems with a moving leader. Nonlinear Dyn 90, 2755–2766 (2017). https://doi.org/10.1007/s11071-017-3835-0

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  • DOI: https://doi.org/10.1007/s11071-017-3835-0

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