Asymptotic Synchronization of a Leader-Follower Network of Uncertain Euler-Lagrange Systems

Author

Klotz, Justin R. ; Zhen Kan ; Shea, John M. ; Pasiliao, Eduardo L. ; Dixon, Warren E.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA

Volume

2

Issue

2

fYear

2015

fDate

Jun-15

Firstpage

174

Lastpage

182

Abstract

This paper investigates the synchronization of a network of Euler-Lagrange systems with leader tracking. The Euler-Lagrange systems are heterogeneous and uncertain and contain bounded, exogenous disturbances. The network leader has a time-varying trajectory which is known to only a subset of the follower agents. A robust integral sign of the error-based decentralized control law is developed to yield semiglobal asymptotic agent synchronization and leader tracking.

Keywords

control system synthesis; decentralised control; nonlinear dynamical systems; synchronisation; time-varying systems; uncertain systems; bounded exogenous disturbances; error-based decentralized control law development; follower agents; heterogeneous Euler-Lagrange systems; leader tracking; leader-follower network; robust integral sign; semiglobal asymptotic agent synchronization; time-varying trajectory; Symmetric matrices; Synchronization; Trajectory; Uncertainty; Upper bound; Vectors; Decentralized control; nonlinear dynamical systems; robust control;

fLanguage

English

Journal_Title

Control of Network Systems, IEEE Transactions on

Publisher

ieee

ISSN

2325-5870

Type

jour

DOI

10.1109/TCNS.2014.2378875

Filename

6979211