Distributed Adaptive Synchronization in Euler Lagrange Networks with Uncertain Interconnections

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

doi:10.1109/TAC.2023.3275018

Distributed Adaptive Synchronization in Euler Lagrange Networks with Uncertain Interconnections

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

Research output: Contribution to journal › Article › Scientific › peer-review

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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
Pages (from-to)	1081-1088
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	69
Issue number	2
DOIs	https://doi.org/10.1109/TAC.2023.3275018
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-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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10.1109/TAC.2023.3275018

Distributed_Adaptive_Synchronization_in_EulerLagrange_Networks_With_Uncertain_InterconnectionsFinal published version, 1.03 MB

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title = "Distributed Adaptive Synchronization in Euler Lagrange Networks with Uncertain Interconnections",

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.",

keywords = "Adaptive synchronization, Adaptive systems, bounded interconnections, Control design, Euler Lagrange dynamics, Friction, heterogeneous networks, Lips, Standards, Synchronization, Uncertainty",

author = "Tian Tao and Spandan Roy and {De Schutter}, Bart and Simone Baldi",

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.",

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doi = "10.1109/TAC.2023.3275018",

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AU - Baldi, Simone

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N2 - 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.

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KW - Adaptive synchronization

KW - Adaptive systems

KW - bounded interconnections

KW - Control design

KW - Euler Lagrange dynamics

KW - Friction

KW - heterogeneous networks

KW - Lips

KW - Standards

KW - Synchronization

KW - Uncertainty

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Distributed Adaptive Synchronization in Euler Lagrange Networks with Uncertain Interconnections

Abstract

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Keywords

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