Robust Synchronization Control of Switched Networked Euler-Lagrange Systems

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Detail(s)

Original languageEnglish
Pages (from-to)6834-6842
Journal / PublicationIEEE Transactions on Cybernetics
Volume52
Issue number7
Online published7 Dec 2020
Publication statusPublished - Jul 2022

Abstract

In this article, we address the synchronization problem of networked uncertain Euler-Lagrange systems subject to disturbances, network delays, and uniformly connected switching networks. Compared with existing works, the current problem setting is more practical and technically more challenging. First, to tackle the disturbances under switching networks, we establish one lemma to show the convergence of a piecewise continuous function. Then, we establish the input-to-state stability (ISS) property of a class of perturbed time-delay systems to enable the distributed estimation of the system matrix and the output matrix of the leader system through delayed and switched network communication. Based on the certainty equivalence principle, we design an adaptive distributed control law. The synchronization control of four three-link cylindrical arms is used to demonstrate the effectiveness of the proposed approach.

Research Area(s)

  • Adaptive control, cooperative control, Euler-Lagrange system, multiagent systems, switching networks, time-delay systems

Citation Format(s)

Robust Synchronization Control of Switched Networked Euler-Lagrange Systems. / Lu, Maobin; Liu, Lu.
In: IEEE Transactions on Cybernetics, Vol. 52, No. 7, 07.2022, p. 6834-6842.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review