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Related Experiment Video

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Image-based Lagrangian Particle Tracking in Bed-load Experiments

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Published on: July 20, 2017

Distributed Prescribed Performance Formation Tracking for Unknown Euler-Lagrange Systems Under Input Saturation.

Athanasios K Gkesoulis¹, Andreani Christopoulou², Charalampos P Bechlioulis^1,3

¹Athena Research Center, Robotics Institute, 15125 Marousi, Greece.

Sensors (Basel, Switzerland)

|October 16, 2025

Summary

This study introduces a distributed control method for unknown Euler-Lagrange systems, ensuring formation tracking within performance limits despite input saturation. Simulations confirm effective control for multi-agent systems like underwater vehicles.

Keywords:

constrained control distributed control formation control nonlinear systems robust control uncertain systems

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Area of Science:

Robotics
Control Systems Engineering
Applied Mathematics

Background:

Formation tracking is crucial for multi-agent systems.
Euler-Lagrange systems are common in robotics.
Input saturation poses a significant challenge in control design.

Purpose of the Study:

To develop a distributed prescribed performance formation tracking control method.
To address unknown dynamics and input amplitude constraints in Euler-Lagrange systems.
To ensure tracking performance within predefined bounds despite actuator saturation.

Main Methods:

Design of a distributed virtual velocity reference modification mechanism.
Development of sufficient feasibility conditions for input constraints.
Analysis of closed-loop signal boundedness.

Main Results:

The proposed method achieves prescribed performance formation tracking.
Input constraints are satisfied under established feasibility conditions.
All closed-loop signals are guaranteed to be bounded.

Conclusions:

The distributed control strategy effectively handles unknown dynamics and input saturation.
The method ensures robust formation tracking for multi-agent systems.
Simulations with underwater vehicles demonstrate practical applicability and effectiveness.