Distributed Terminal Backstepping control for Multi-Agent Euler-Lagrange Systems
Hu Chen, Seong-Ik Han, Jang-Myung Lee · Journal of Robotics Networking and Artificial Life · 2015
This paper presents a distributed terminal (finite-time) backstepping consensus control for multi-agent Euler-Lagrange systems.Terminal virtual error surfaces and virtual controls are proposed to guarantee the finite-time error consensus and formation convergence of a group of one-leader and multi-follower cooperative tracking Euler-Lagrange system.Finite-time stability including infinite-time stability was proved by the finite-time Lyapunov candidate function.Simulation example shows the effectiveness of the proposed finite-time backstepping coordinated tracking controller.