Abstract
In this article, we study the synchronisation problem of uncertain networked Lagrangian systems on directed communication topologies. For the nominal model without uncertainties, we propose a backstepping-based synchronisation design for heterogenous Lagrangian systems on directed graphs with a spanning tree. We relax earlier constraints on the feedback gain for the distributed synchronisation control law, which encompasses the existing double integrator consensus problem as a special case. We then extend the proposed design to the case without relative velocity measurement. For the uncertain Lagrangian model, we develop a distributed adaptive redesign so that asymptotic synchronisation convergence is achieved in the presence of linearly parameterised model uncertainties. Simulation results show the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 145-158 |
| Number of pages | 14 |
| Journal | International Journal of Systems Science |
| Volume | 45 |
| Issue number | 2 |
| DOIs | |
| State | Published - Feb 1 2014 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Theoretical Computer Science
- Computer Science Applications
Keywords
- Lagrangian system
- adaptive redesign
- backstepping
- synchronisation
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