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Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using A Model-Independent Algorithm

Ye, Mengbin; Anderson, Brian; Yu, Changbin(Brad)


In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show that the leader tracking objective is achieved semi-globally exponentially fast if the graph contains a directed spanning tree. By model-independent, we mean that each agent executes its algorithm with no knowledge of the parameter values of any agent's...[Show more]

CollectionsANU Research Publications
Date published: 2019
Type: Journal article
Source: IEEE Transactions on Control of Network Systems
DOI: 10.1109/TCNS.2018.2856298
Access Rights: Open Access


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