Premium
Leader‐following consensus of multiple uncertain Euler‐Lagrange systems
Author(s) -
Lu Maobin,
Liu Lu
Publication year - 2018
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.4223
Subject(s) - controller (irrigation) , control theory (sociology) , computer science , feature (linguistics) , state (computer science) , mathematical optimization , consensus , robot , control (management) , control engineering , distributed computing , mathematics , multi agent system , artificial intelligence , engineering , algorithm , linguistics , philosophy , agronomy , biology
Summary A new adaptive distributed controller is developed for the leader‐following consensus problem of multiple uncertain Euler‐Lagrange systems. A distinct feature of our proposed approach as opposed to the existing ones is that it does not need the exchange of controller's state among the communication network. As a consequence, it not only makes the implementation of the controller much easier but also reduces the communication cost. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of multiple two‐link robot arms.