Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance

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• 作者：Yang Liu ; Yingmin Jia
• 关键词：Adaptive control ; consensus ; Euler ; Lagrange system ; external disturbance ; parametric uncertainty
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：15
• 期：1
• 页码：205-211
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics;
• 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
• ISSN：2005-4092
• 卷排序：15

文摘

This article is devoted to the adaptive consensus control for directed networks of Euler-Lagrange systems with both unknown parametric uncertainties and bounded external disturbances. In particular, an adaptive protocol with simple distributed updating laws is proposed by combining the disturbance compensator technique, and the performance analysis is given to demonstrate that the states of all disturbed Euler-Lagrange systems can converge to consensus. A numerical example is included to illustrate the effectiveness of the developed protocol and validate the theoretical results.