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 language | English |
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Pages (from-to) | 4093-4104 |
Number of pages | 12 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 28 |
Issue number | 14 |
DOIs | |
Publication status | Published - 25 Sept 2018 |
Externally published | Yes |
Keywords
- adaptive distributed control
- leader-following consensus
- multiagent systems
- uncertain Euler-Lagrange system