Distributed global output-feedback control for a class of euler-lagrange systems

Qingkai Yang, Hao Fang, Jie Chen, Zhong Ping Jiang, Ming Cao

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Article number7907181
Pages (from-to)4855-4861
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number9
StatePublished - Sep 2017


  • Coordinate transformation
  • Euler-Lagrange systems
  • distributed control
  • global output feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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