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

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

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Original languageEnglish
Pages (from-to)9778-9783
Number of pages6
Journal / PublicationIFAC-PapersOnLine
Issue number2
Publication statusPublished - Nov 2020


Title21st IFAC World Congress 2020
Period12 - 17 July 2020



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.

Research Area(s)

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

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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).

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