TY - GEN
T1 - Adaptive backstepping-based synchronization of uncertain networked Lagrangian systems
AU - Zhang, Wenlin
AU - Wang, Zheng
AU - Guo, Yi
PY - 2011
Y1 - 2011
N2 - In this paper, we study the synchronization problem of networked uncertain Lagrangian systems on directed communication topologies. For the nominal model, we propose a backstepping-based synchronization design for heterogenous Lagrangian systems on digraphs with a spanning tree. We relax the feedback gain constraints on the distributed synchronization control law which encompasses the existing double integrator consensus design as a special case. For the uncertain model, we develop a distributed adaptive redesign assuming that the uncertainty in each agent dynamics can be expressed as a linear parametrization. Simulation results show the effectiveness of the proposed method.
AB - In this paper, we study the synchronization problem of networked uncertain Lagrangian systems on directed communication topologies. For the nominal model, we propose a backstepping-based synchronization design for heterogenous Lagrangian systems on digraphs with a spanning tree. We relax the feedback gain constraints on the distributed synchronization control law which encompasses the existing double integrator consensus design as a special case. For the uncertain model, we develop a distributed adaptive redesign assuming that the uncertainty in each agent dynamics can be expressed as a linear parametrization. Simulation results show the effectiveness of the proposed method.
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M3 - Conference contribution
AN - SCOPUS:80053153074
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 1057
EP - 1062
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -