Adaptive synchronization of networked Lagrangian systems with irregular communication delays

Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


We consider the synchronization problem of networked Euler-Lagrange systems with unknown parameters. The information flow in the network is represented by a directed communication graph and is subject to unknown and possibly discontinuous time-varying communication delays with unknown upper bounds. We propose a control scheme that achieves position synchronization, i.e., all the positions of the systems converge to a common final position, provided that the directed communication graph contains a spanning tree. The convergence analysis of the proposed scheme is based on the multi-dimensional small-gain framework. Simulation results are presented that confirm the validity of the obtained results.

Original languageEnglish (US)
Article number6426207
Pages (from-to)5936-5941
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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