Distributed Adaptive Synchronization in Euler-Lagrange Networks With Uncertain Interconnections

• 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.2023.3275018
• 发表日期: 2024
• 页码: 1081-1088
• 关键词: Adaptive synchronization; bounded interconnections; Euler-Lagrange (EL) dynamics; Heterogeneous networks

摘要

In this article, we propose a new practical synchronization protocol for multiple Euler-Lagrange systems without structural linear-in-the-parameters (LIP) knowledge of the uncertainty and where the agents can be interconnected before control design by unknown state-dependent interconnection terms. This setting is meant to overcome two standard a priori assumptions in the literature concerning uncertainty with LIP structure and absence of interaction among agents before designing the synchronization protocol. To overcome these assumptions, we propose an adaptive distributed control mechanism having the purpose of estimating the coefficients of the resulting state-dependent uncertainty structur.