摘要
TheproblemofdistributedcoordinatedtrackingcontrolfornetworkedEuler-Lagrangesystemswithoutvelocitymeasurementsisinvestigated.Undertheconditionthatonlyaportionofthefollowershaveaccesstotheleader,slidingmodeestimatorsaredevelopedtoestimatethestatesofthedynamicleaderinfinitetime.Tocopewiththeabsenceofvelocitymeasurements,thedistributedobserverswhichonlyusepositioninformationaredesigned.Basedontheoutputsoftheestimatorsandobservers,distributedtrackingcontrollawsareproposedsuchthatallthefollowerswithparameteruncertaintiescantrackthedynamicleaderunderadirectedgraphcontainingaspanningtree.Itisshownthatthedistributedobserver-controllerguaranteesasymptoticalstabilityoftheclosed-loopsystem.Numericalsimulationsareworkedouttoillustratetheeffectivenessofthecontrollaws.
出版日期
2014年04月14日（中国期刊网平台首次上网日期，不代表论文的发表时间）
