Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 63, Issue 8, Pages 2604-2611Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2017.2771318
Keywords
Communication delay; distributed control; leader-following consensus; multi-agent systems; switching network; un-certain Euler-Lagrange (EL) system
Funding
- Research Grants Council of the Hong Kong Special Administrative Region of China [CityU/11213415]
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This technical note focuses on the leader-following consensus problem of multiple uncertain Euler-Lagrange systems subject to communication delays and switching networks. By integrating the feedforward control approach with the adaptive control approach, a new adaptive distributed controller is developed. As opposed to the existing literature, our result has its distinct advantages in that it can accommodate arbitrarily bounded nonuniform time-varying communication delays, and directed jointly connected switching communication networks. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of some practical multiple mechanical systems.
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