The Leader-Following Consensus for Multiple Uncertain Euler-Lagrange Systems With an Adaptive Distributed Observer

In this note, we first propose an adaptive distributed observer for a linear leader system. This observer only assumes those followers who are the children of the leader know the system matrix of the leader system. Then, we further develop a distributed adaptive controller utilizing this adaptive di...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2016-10, Vol.61 (10), p.3152-3157
Main Authors: Cai, He, Huang, Jie
Format: Article
Language:English
Subjects:
Adaptive distributed observer
Communication networks
Decentralized control
Euler-Lagrange systems
leader-following consensus
Multi-agent systems
Observers
Silicon
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Summary:In this note, we first propose an adaptive distributed observer for a linear leader system. This observer only assumes those followers who are the children of the leader know the system matrix of the leader system. Then, we further develop a distributed adaptive controller utilizing this adaptive distributed observer to solve the leader-following consensus problem for multiple uncertain Euler-Lagrange systems without assuming that all the followers need to know the system matrix of the leader system.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2015.2504728