Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents

• 成果类型: Article
• 署名作者: Tao, Tian; Roy, Spandan; De Schutter, Bart; Baldi, Simone
• 署名单位: Delft University of Technology; International Institute of Information Technology Hyderabad; Southeast University - China
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3349099
• 发表日期: 2024
• 页码: 3912-3927
• 关键词: Adaptive synchronization; Distributed control; Euler-Lagrange (EL) dynamics; underactuated systems

摘要

This article proposes a framework for adaptive synchronization of uncertain underactuated Euler-Lagrange (EL) agents. The designed distributed controller can handle both state-dependent uncertain system dynamics terms and state-dependent uncertain interconnection terms among neighboring agents. No structural knowledge of such terms is required other than the standard properties of EL systems (positive definite mass matrix, bounded gravity, velocity-dependent friction bound, etc.). The study of stability relies on a suitable analysis of the nonactuated and the actuated synchronization errors, resulting in stable error dynamics perturbed by parametrized state-dependent uncertainty. This uncertainty is tackled via appropriate adaptation laws, giving stability in the uniform ultimate boundedness sense, in line with available literature on state-dependent uncertain system dynamics and/or state-dependent uncertain interconnections. An example with a network of boom cranes is used to validate the proposed approach.