@article{3a8420d050704a5cb36c3a78b08dbeda,
title = "Distributed global output-feedback control for a class of euler-lagrange systems",
abstract = "This paper investigates the distributed tracking control problem for a class of Euler-Lagrange multiagent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong nonlinearity in unmeasurable states pose severe technical challenges to global output-feedback control design. To overcome these difficulties, a global nonsingular coordinate transformation matrix in the upper triangular form is first proposed such that the nonlinear dynamic model can be partially linearized with respect to the unmeasurable states. And, a new type of velocity observers is designed to estimate the unmeasurable velocities for each system. Then, based on the outputs of the velocity observers, we propose distributed control laws that enable the coordinated tracking control system to achieve uniform global exponential stability. Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme.",
keywords = "Coordinate transformation, Euler-Lagrange systems, distributed control, global output feedback",
author = "Qingkai Yang and Hao Fang and Jie Chen and Jiang, {Zhong Ping} and Ming Cao",
note = "Funding Information: Manuscript received June 7, 2016; revised June 9, 2016 and December 21, 2016; accepted April 10, 2017. Date of publication April 24, 2017; date of current version August 28, 2017. This work was supported in part by the Project of Innovative Research Groups of the National Natural Science Foundation of China (Grant no. 61621063), NSFC under Grant 61573062 and Grant 61603094, in part by the Program for Changjiang Scholars and Innovative Research Team in University under Grant IRT1208, in part by the Beijing Education Committee Cooperation Building Foundation Project under Grant 2017CX02005, and in part by the Beijing Advanced Innovation Center for Intelligent Robots and Systems (Beijing Institute of Technology), Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing, China. The work of Q. Yang was supported by the China Scholarship Council on his study at the University of Groningen, The Netherlands. Recommended by Associate Editor Nikhil Chopra. (Corresponding author: Hao Fang.) Q. Yang is with the School of Automation, Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China and also with the Faculty of Science and Engineering, ENTEG, University of Groningen, Groningen 9747 AG, The Netherlands (e-mail: q.k.yang@rug.nl).",
year = "2017",
month = sep,
doi = "10.1109/TAC.2017.2696705",
language = "English (US)",
volume = "62",
pages = "4855--4861",
journal = "IEEE Transactions on Automatic Control",
issn = "0018-9286",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "9",
}