Consensus of Nonidentical Euler-Lagrange Systems Under Switching Directed Graphs

This paper studies the consensus problem of nonidentical Euler-Lagrange systems with parametric uncertainties, under switching directed graphs. We present an adaptive distributed control algorithm that solves this problem in the leaderless scenario, under weak assumptions on the switching interconne...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2019-05, Vol.64 (5), p.2108-2114
Main Author: Abdessameud, Abdelkader
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Computer simulation
consensus
Control algorithms
Control systems
Control theory
Coordinate measuring machines
distributed algorithms
Euler–Lagrange systems
Graph theory
Graphs
Heuristic algorithms
multi-agent systems
Simulation
Switches
Switching
switching topology
Topology
Torque
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Summary:This paper studies the consensus problem of nonidentical Euler-Lagrange systems with parametric uncertainties, under switching directed graphs. We present an adaptive distributed control algorithm that solves this problem in the leaderless scenario, under weak assumptions on the switching interconnection between agents. It is shown that the proposed consensus protocol achieves consensus without using neighbor's velocity information and accounts for the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2018.2867347