Leader‐following consensus of multiple uncertain Euler‐Lagrange systems. (17th May 2018)

• Record Type: Journal Article
• Authors: Lu, Maobin; Liu, Lu
• Is Part Of: International journal of robust and nonlinear control. Volume 28:Number 14(2018)
• Page Start: 4093
• Page End: 4104
• Publication Date: 2018-05-17
• Subjects: adaptive distributed control -- leader‐following consensus -- multiagent systems -- uncertain Euler‐Lagrange system; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.4223
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: A new adaptive distributed controller is developed for the leader‐following consensus problem of multiple uncertain Euler‐Lagrange systems. A distinct feature of our proposed approach as opposed to the existing ones is that it does not need the exchange of controller's state among the communication network. As a consequence, it not only makes the implementation of the controller much easier but also reduces the communication cost. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of multiple two‐link robot arms.