Synchronization of lagrangian systems with irregular communication delays

Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi

Research output: Contribution to journalArticlepeer-review

100 Scopus citations


The synchronization problem of networked Euler-Lagrange systems with unknown parameters is addressed. 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 multidimensional small-gain framework. Simulation results on a network of ten robot manipulators are given to illustrate the effectiveness of the proposed control scheme.

Original languageEnglish (US)
Article number6544231
Pages (from-to)187-193
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number1
StatePublished - Jan 2014

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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