TY - GEN
T1 - On the leader-follower synchronization of Euler-Lagrange systems
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
AU - Polushin, Ilia G.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - In this paper we study the leader-follower synchronization problem of networked uncertain Euler-Lagrange systems under directed interconnection graphs. We first consider the case of ideal communication between agents and present an adaptive distributed control algorithm such that a group of Euler-Lagrange systems asymptotically synchronize their states to those of a dynamic leader with a time-varying trajectory. Then, we propose a modified design that achieves the same control objective under the assumption of intermittent discrete-time communication in the presence of varying communication delays and possible packet dropout. It is shown that leader-follower synchronization is achieved under sufficient conditions that can be realized uniformly of the interconnection topology between agents for a given characteristics of the communication process. Simulation results are given to illustrate the effectiveness of the proposed control scheme.
AB - In this paper we study the leader-follower synchronization problem of networked uncertain Euler-Lagrange systems under directed interconnection graphs. We first consider the case of ideal communication between agents and present an adaptive distributed control algorithm such that a group of Euler-Lagrange systems asymptotically synchronize their states to those of a dynamic leader with a time-varying trajectory. Then, we propose a modified design that achieves the same control objective under the assumption of intermittent discrete-time communication in the presence of varying communication delays and possible packet dropout. It is shown that leader-follower synchronization is achieved under sufficient conditions that can be realized uniformly of the interconnection topology between agents for a given characteristics of the communication process. Simulation results are given to illustrate the effectiveness of the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=84962037295&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2015.7402011
DO - 10.1109/CDC.2015.7402011
M3 - Conference contribution
AN - SCOPUS:84962037295
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1054
EP - 1059
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -