Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems Subject to Communication Delays and Switching Networks
This technical note focuses on the leader-following consensus problem of multiple uncertain Euler-Lagrange systems subject to communication delays and switching networks. By integrating the feedforward control approach with the adaptive control approach, a new adaptive distributed controller is deve...
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| Published in | IEEE transactions on automatic control Vol. 63; no. 8; pp. 2604 - 2611 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.08.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0018-9286 1558-2523 |
| DOI | 10.1109/TAC.2017.2771318 |
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| Abstract | This technical note focuses on the leader-following consensus problem of multiple uncertain Euler-Lagrange systems subject to communication delays and switching networks. By integrating the feedforward control approach with the adaptive control approach, a new adaptive distributed controller is developed. As opposed to the existing literature, our result has its distinct advantages in that it can accommodate arbitrarily bounded nonuniform time-varying communication delays, and directed jointly connected switching communication networks. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of some practical multiple mechanical systems. |
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| AbstractList | This technical note focuses on the leader-following consensus problem of multiple uncertain Euler-Lagrange systems subject to communication delays and switching networks. By integrating the feedforward control approach with the adaptive control approach, a new adaptive distributed controller is developed. As opposed to the existing literature, our result has its distinct advantages in that it can accommodate arbitrarily bounded nonuniform time-varying communication delays, and directed jointly connected switching communication networks. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of some practical multiple mechanical systems. |
| Author | Lu, Maobin Liu, Lu |
| Author_xml | – sequence: 1 givenname: Maobin orcidid: 0000-0001-5730-5786 surname: Lu fullname: Lu, Maobin email: maobinlu@cityu.edu.hk organization: Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong – sequence: 2 givenname: Lu surname: Liu fullname: Liu, Lu email: luliu45@cityu.edu.hk organization: Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong |
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| SubjectTerms | Adaptive control Communication Communication delay Communication networks Control theory Cooperative control Decentralized control Delays distributed control Feedforward control leader-following consensus Mechanical systems Multi-agent systems Robots Switches switching network Switching theory uncertain Euler–Lagrange (EL) system |
| Title | Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems Subject to Communication Delays and Switching Networks |
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