Distributed adaptive leader-following tracking control of networked Lagrangian systems with unknown control directions under undirected/directed graphs. Issue 12 (2nd December 2019)

• Record Type: Journal Article
• Authors: Wang, Gang; Wang, Chaoli; Shen, Yantao
• Is Part Of: International journal of control. Volume 92:Issue 12(2019)
• Page Start: 2886
• Page End: 2898
• Publication Date: 2019-12-02
• Subjects: Distributed control -- networked Lagrangian systems -- adaptive control -- nonlinear systems; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1465204
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper addresses the leader-following consensus problem of networked Lagrangian systems with unknown control directions and uncertain dynamics. For undirected graphs and directed graphs, two types of distributed control protocols are proposed without assuming that the leader's position information is linearly parameterised. It is proven that all signals in the closed-loop system are bounded, and a leader-following consensus can be achieved with the proposed corresponding protocols. These protocols are distributed in the sense that the control input for each Lagrangian system is solely based on local relative position and velocity information from its neighbourhood set and does not require additional information, e.g. acceleration or observer information of its neighbours, thus avoiding the dead-loop problem and reducing the communication burden. Simulations on networked two-link revolute joint arms are given to validate the theoretical findings.