An Extension of Barbalat's Lemma with its Application to Synchronization of a Class of Switched Networked Nonlinear Systems

Maobin Lu; Fang Deng; Lu Liu

doi:10.1016/j.ifacol.2020.12.2659

An Extension of Barbalat's Lemma with its Application to Synchronization of a Class of Switched Networked Nonlinear Systems

Maobin Lu
, Fang Deng
, Lu Liu^*

^*Corresponding author for this work

Department of Biomedical Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

4 Citations (Scopus)

132 Downloads (CityUHK Scholars)

Abstract

This paper investigates the leader-following synchronization problem of uncertain Euler-Lagrange multi-agent systems subject to communication delays, disturbances and uniformly connected switching networks. The current settings cause great challenges to the solvability of the problem. To tackle these technical challenges, we make an extension to Barbalat’s lemma. Based on the certainty equivalence principle, we propose a novel adaptive distributed control law and apply the generalized Barbalat’s lemma to the synchronization problem. The effectiveness of the main result is demonstrated by an application to synchronization control of practical multiple mechanical systems.

Original language	English
Pages (from-to)	9778-9783
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.2659
Publication status	Published - Nov 2020
Event	21st IFAC World Congress 2020 - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020 https://www.ifac-control.org/events/ifac-world-congress-21th-wc-2020

Bibliographical note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

Research Keywords

Distributed control
Disturbances
Euler-lagrange system
Leader-following synchronization
Switching network

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This full text is made available under CC-BY-NC-ND 4.0. https://creativecommons.org/licenses/by-nc-nd/4.0/

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title = "An Extension of Barbalat's Lemma with its Application to Synchronization of a Class of Switched Networked Nonlinear Systems",

abstract = "This paper investigates the leader-following synchronization problem of uncertain Euler-Lagrange multi-agent systems subject to communication delays, disturbances and uniformly connected switching networks. The current settings cause great challenges to the solvability of the problem. To tackle these technical challenges, we make an extension to Barbalat{\textquoteright}s lemma. Based on the certainty equivalence principle, we propose a novel adaptive distributed control law and apply the generalized Barbalat{\textquoteright}s lemma to the synchronization problem. The effectiveness of the main result is demonstrated by an application to synchronization control of practical multiple mechanical systems.",

keywords = "Distributed control, Disturbances, Euler-lagrange system, Leader-following synchronization, Switching network",

author = "Maobin Lu and Fang Deng and Lu Liu",

note = "Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).; 21st IFAC World Congress 2020 ; Conference date: 12-07-2020 Through 17-07-2020",

year = "2020",

month = nov,

doi = "10.1016/j.ifacol.2020.12.2659",

language = "English",

volume = "53",

pages = "9778--9783",

journal = "IFAC-PapersOnLine",

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url = "https://www.ifac-control.org/events/ifac-world-congress-21th-wc-2020",

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TY - JOUR

T1 - An Extension of Barbalat's Lemma with its Application to Synchronization of a Class of Switched Networked Nonlinear Systems

AU - Lu, Maobin

AU - Deng, Fang

AU - Liu, Lu

N1 - Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

PY - 2020/11

Y1 - 2020/11

N2 - This paper investigates the leader-following synchronization problem of uncertain Euler-Lagrange multi-agent systems subject to communication delays, disturbances and uniformly connected switching networks. The current settings cause great challenges to the solvability of the problem. To tackle these technical challenges, we make an extension to Barbalat’s lemma. Based on the certainty equivalence principle, we propose a novel adaptive distributed control law and apply the generalized Barbalat’s lemma to the synchronization problem. The effectiveness of the main result is demonstrated by an application to synchronization control of practical multiple mechanical systems.

AB - This paper investigates the leader-following synchronization problem of uncertain Euler-Lagrange multi-agent systems subject to communication delays, disturbances and uniformly connected switching networks. The current settings cause great challenges to the solvability of the problem. To tackle these technical challenges, we make an extension to Barbalat’s lemma. Based on the certainty equivalence principle, we propose a novel adaptive distributed control law and apply the generalized Barbalat’s lemma to the synchronization problem. The effectiveness of the main result is demonstrated by an application to synchronization control of practical multiple mechanical systems.

KW - Distributed control

KW - Disturbances

KW - Euler-lagrange system

KW - Leader-following synchronization

KW - Switching network

UR - https://www.scopus.com/pages/publications/85107733287

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85107733287&origin=recordpage

U2 - 10.1016/j.ifacol.2020.12.2659

DO - 10.1016/j.ifacol.2020.12.2659

M3 - RGC 21 - Publication in refereed journal

SN - 2405-8963

VL - 53

SP - 9778

EP - 9783

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 2

T2 - 21st IFAC World Congress 2020

Y2 - 12 July 2020 through 17 July 2020

ER -

An Extension of Barbalat's Lemma with its Application to Synchronization of a Class of Switched Networked Nonlinear Systems

Abstract

Bibliographical note

Research Keywords

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