Leader-following consensus of multiple uncertain Euler-Lagrange systems

Maobin Lu, Lu Liu*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)

Abstract

A new adaptive distributed controller is developed for the leader-following consensus problem of multiple uncertain Euler-Lagrange systems. A distinct feature of our proposed approach as opposed to the existing ones is that it does not need the exchange of controller's state among the communication network. As a consequence, it not only makes the implementation of the controller much easier but also reduces the communication cost. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of multiple two-link robot arms.

Original languageEnglish
Pages (from-to)4093-4104
Number of pages12
JournalInternational Journal of Robust and Nonlinear Control
Volume28
Issue number14
DOIs
Publication statusPublished - 25 Sept 2018
Externally publishedYes

Keywords

  • adaptive distributed control
  • leader-following consensus
  • multiagent systems
  • uncertain Euler-Lagrange system

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