Coordinated Control Of The Restricted Network Euler-Lagrange System

In recent years,with rapid development of the scientific innovation and con-tinuous deepening of the theoretical research,the researchers adopt Euler-Lagrange equations to simulate the coordinated control system which has the breakthrough significance,its theoretical significance and practical value cause the widespread researchers' attention.This paper studies the coordination control of the limited Network Euler-Lagrange System(NELS),and the major contents are consisted as the following parts.First,considering the coordination control problem of NELS with velocity infor-mation measurements,saturation function is introduced in directed topology.Based on Lyapunov stability theory and algebraic graph theory,the asymptotic stability of the closed-loop system is guaranteed.Then,the coordination control problems of NELS without relative velocity and absolute velocity information measurements is studied.For the system without rel-ative velocity feedback,a system coordinated control algorithm independent of the relative velocity information of adjacent agents is designed to satisfy the asymptotic stability of closed loop system with input saturation.And for the system without absolute velocity measurement,a observer is designed to observe the system infor-mation and fault-tolerance coordinated control law is proposed for considering the failure of actuators.Finally,numerical simulation system is constructed to verify the presented con-trol algorithms for the constrained NELS.The simulation results show the feasibility and effectiveness of the proposed control laws.