Reference:
T. Tao,
S. Roy,
B. De Schutter, and
S. Baldi,
"Adaptive synchronization of uncertain underactuated Euler-Lagrange
agents," IEEE Transactions on Automatic Control, vol. 69, no.
6, pp. 3912-3927, June 2024.
Abstract:
This work proposes a framework for adaptive synchronization of
uncertain underactuated Euler-Lagrange (EL) agents. The designed
distributed controller can handle both state-dependent uncertain
system dynamics terms and state-dependent uncertain interconnection
terms among neighboring agents. No structural knowledge of such terms
is required other than the standard properties of EL systems (positive
definite mass matrix, bounded gravity, velocity-dependent friction
bound, etc.). The study of stability relies on a suitable analysis of
the non-actuated and the actuated synchronization errors, resulting in
stable error dynamics perturbed by parametrized state-dependent
uncertainty. This uncertainty is tackled via appropriate adaptation
laws, giving stability in the uniform ultimate boundedness sense, in
line with the available literature on state-dependent uncertain system
dynamics and/or state-dependent uncertain interconnections. An example
with a network of boom cranes is used to validate the proposed
approach.
Bibtex entry:
@article{TaoRoy:24-005,