Adaptive backstepping-based synchronization of uncertain networked Lagrangian systems

Wenlin Zhang, Zheng Wang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages1057-1062
Number of pages6
StatePublished - 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: 29 Jun 20111 Jul 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2011 American Control Conference, ACC 2011
Country/TerritoryUnited States
CitySan Francisco, CA
Period29/06/111/07/11

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