Distributed Adaptive Synchronization in Euler Lagrange Networks with Uncertain Interconnections

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

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
28 Downloads (Pure)

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 languageEnglish
Pages (from-to)1081-1088
Number of pages8
JournalIEEE Transactions on Automatic Control
Volume69
Issue number2
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
  • Adaptive systems
  • bounded interconnections
  • Control design
  • Euler Lagrange dynamics
  • Friction
  • heterogeneous networks
  • Lips
  • Standards
  • Synchronization
  • Uncertainty

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