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Abstract and Applied Analysis
Volume 2014, Article ID 135690, 12 pages
Research Article

Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

College of Automation, Chongqing University, Chongqing 400044, China

Received 25 February 2014; Revised 24 June 2014; Accepted 27 June 2014; Published 13 July 2014

Academic Editor: Peng Shi

Copyright © 2014 Gang Chen and Qing Lin. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.