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Cooperative controller design for synchronization of networked uncertain Euler–Lagrange systems
Author(s) -
Chen Gang
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3172
Subject(s) - digraph , synchronization (alternating current) , control theory (sociology) , computer science , controller (irrigation) , protocol (science) , network topology , lyapunov function , distributed computing , control engineering , control (management) , mathematics , engineering , nonlinear system , computer network , artificial intelligence , medicine , channel (broadcasting) , physics , alternative medicine , pathology , combinatorics , quantum mechanics , agronomy , biology
Summary This paper addresses the synchronization problems with/without a dynamic leader for a team of distributed Lagrange systems on digraph. A systematic way to design and analyze the distributed control algorithms is presented. The contributions of the paper are twofold. First, the adaptive coordination control protocols are proposed for synchronization of networked uncertain Lagrange systems with/without tracking. This protocol can guarantee synchronization in finite time. Second, the design of the distributed tracking controller for the networked dynamic systems is proposed by using Lyapunov methods. The development is suitable for the general digraph communication topologies. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms. Copyright © 2014 John Wiley & Sons, Ltd.