Abstract
In this work we propose a new practical synchronization protocol for multiple Euler Lagrange (EL) 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 structure.
Original language | English |
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Pages (from-to) | 1081-1088 |
Number of pages | 8 |
Journal | IEEE Transactions on Automatic Control |
Volume | 69 |
Issue number | 2 |
DOIs | |
Publication status | Published - 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-careOtherwise 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
- Adaptive systems
- bounded interconnections
- Control design
- Euler Lagrange dynamics
- Friction
- heterogeneous networks
- Lips
- Standards
- Synchronization
- Uncertainty