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.
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BibTeX
@article{TaoRoy:24-005,
author = {Tao, Tian and Roy, Spandan and De Schutter, Bart and Baldi,
Simone},
title = {Adaptive Synchronization of Uncertain Underactuated
{E}uler-{L}agrange Agents},
journal = {IEEE Transactions on Automatic Control},
volume = {69},
number = {6},
pages = {3912--3927},
month = jun,
year = {2024}
}