Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents

Tian Tao, Spandan Roy, Bart De Schutter, Simone Baldi*

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)
7 Downloads (Pure)

Abstract

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.

Original languageEnglish
Pages (from-to)3912-3927
Number of pages16
JournalIEEE Transactions on Automatic Control
Volume69
Issue number6
DOIs
Publication statusPublished - 2024

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • Adaptive synchronization
  • distributed control
  • Euler-Lagrange (EL) dynamics
  • underactuated systems

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