Cooperative Source Seeking for Uncertain Networked Euler-Lagrange Systems over Unbalanced Digraphs

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

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Detail(s)

Original languageEnglish
Title of host publication2024 IEEE 18th International Conference on Control and Automation (ICCA)
PublisherIEEE Computer Society
Pages168-173
ISBN (electronic)9798350354409
ISBN (print)9798350354416
Publication statusPublished - 2024

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (electronic)1948-3457

Conference

Title18th IEEE International Conference on Control and Automation (IEEE ICCA 2024)
LocationUniversity of Iceland
PlaceIceland
CityReykjavík
Period18 - 21 June 2024

Abstract

This work investigates the cooperative source seeking problem for uncertain networked Euler-Lagrange (EL) systems over unbalanced digraphs. The objective is to drive all agents towards the source of scalar fields. To achieve this, a novel distributed control protocol is proposed, which consists of two components: a distributed optimizer that generates a virtual reference trajectory towards the source, and a trajectory tracker that drives each agent exponentially towards this trajectory. Complemented by the exponential trajectory tracker, the stochastic extremum seeking techniques can be employed to estimate the gradient information from the strength of the scalar field in the optimizer. However, this approach introduces a new coupling term to the optimizer at the same time, which requires careful consideration in the convergence analysis. Leveraging stochastic averaging theory, the exponential practical stability then can be guaranteed for the entire closed-loop system. Finally, the effectiveness of the proposed control protocol is demonstrated by a numerical example. © 2024 IEEE.

Citation Format(s)

Cooperative Source Seeking for Uncertain Networked Euler-Lagrange Systems over Unbalanced Digraphs. / Wang, Lu; Liu, Lu.
2024 IEEE 18th International Conference on Control and Automation (ICCA). IEEE Computer Society, 2024. p. 168-173 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review