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Distributed Adaptive Dynamic Surface Containment Control for Uncertain Multiple Euler-Lagrange Systems

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  • Control Theory and Applications
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Abstract

This paper investigates the distributed containment control for a class of uncertain multiple Euler- Lagrange systems. A directed graph is used to characterize the interactions among the leaders and followers. The proposed approach is based on an adaptive dynamic surface control, where the system uncertainties are approximately modelled by interval type-2 fuzzy neural networks. The adaptive laws of neuro-fuzzy parameters are derived from the Lyapunov stability analysis. The robust stability of the closed-loop system is guaranteed, and then all followers can converge into the convex hull spanned by the dynamic leaders. In this study, a systematic control scheme is proposed and several indexes are used for performance comparisons. Simulation results are also provided to reveal the superiority of the proposed distributed adaptive containment controller.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Chang Gung University, No. 259, Wenhua 1st Rd., Guishan, Taoyuan, 333, Taiwan

    Yeong-Hwa Chang

  2. Department of Electrical Engineering, Ming Chi University of Technology, No. 84 Gungjuan Rd., Taishan Dist., New Taipei City, 243, Taiwan

    Yeong-Hwa Chang

  3. National Chung-Shan Institute of Science and Technology, No. 481, 6th Neighborhood, Sec. Jia’an, Zhongzheng Rd., Longtan Dist., Taoyuan, 325, Taiwan

    Wei-Shou Chan

  4. Department of Electrical Engineering, Chang Gung University, No. 259, Wenhua 1st Rd., Guishan, Taoyuan, 333, Taiwan

    Chun-I Wu

Authors
  1. Yeong-Hwa Chang
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  2. Wei-Shou Chan
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  3. Chun-I Wu
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Corresponding author

Correspondence to Yeong-Hwa Chang.

Additional information

Recommended by Associate Editor Sing Kiong Nguang under the direction of Editor Jessie (Ju H.) Park. This work is partially supported by the Ministry of Science and Technology under the Grant MOST 105-2221-E-182-040, Taiwan.

Yeong-Hwa Chang received the B.S. degree in electrical engineering from the Chung Cheng Institute of Technology, Tao-Yuan, Taiwan, the M.S. degree in control engineering from National Chiao Tung University, Hsinchu, Taiwan, and the Ph.D. degree in electrical engineering from the University of Texas, Austin, TX, USA, in 1982, 1987, and 1995, respectively. He is currently a Professor with the Department of Electrical Engineering, Chang Gung University, Tao-Yuan, Taiwan, is also a Professor with the Department of Electrical Engineering, Ming Chi University of Technology, New Taipei City, Taiwan. His current research interests include intelligent systems, multi-robot systems, haptic control, and multi-agent systems.

Wei-Shou Chan received the B.S. degree in electrical engineering from the Lunghwa University of Science and Technology, Tao-Yuan, Taiwan, and the M.S. and Ph.D. degrees in electrical engineering from Chang Gung University, Tao-Yuan, Taiwan, in 2006, 2008, and 2014, respectively. His current research interests include intelligent systems, dynamic surface control, interval type-2 fuzzy neural network, and multi-robot systems.

Chun-I Wu received the Associate and M.S. degrees in electrical engineering from Chung Cheng Institute of Technology, National Defense University, Tao- Yuan, Taiwan, and the Ph.D. degree in electrical engineering from Chang Gung University, Tao-Yuan, Taiwan, in 1989, 2000, and 2017, respectively. His current research interests are intelligent control problems including multi-agent systems, consensus control, fault-tolerant control and multi-agent robots.

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Chang, YH., Chan, WS. & Wu, CI. Distributed Adaptive Dynamic Surface Containment Control for Uncertain Multiple Euler-Lagrange Systems. Int. J. Control Autom. Syst. 16, 403–416 (2018). https://doi.org/10.1007/s12555-017-0076-4

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  • DOI: https://doi.org/10.1007/s12555-017-0076-4

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