Backstepping-based synchronisation of uncertain networked Lagrangian systems

Wenlin Zhang, Zheng Wang, Yi Guo

Research output: Contribution to journalArticlepeer-review

23 Scopus citations

Abstract

In this article, we study the synchronisation problem of uncertain networked Lagrangian systems on directed communication topologies. For the nominal model without uncertainties, we propose a backstepping-based synchronisation design for heterogenous Lagrangian systems on directed graphs with a spanning tree. We relax earlier constraints on the feedback gain for the distributed synchronisation control law, which encompasses the existing double integrator consensus problem as a special case. We then extend the proposed design to the case without relative velocity measurement. For the uncertain Lagrangian model, we develop a distributed adaptive redesign so that asymptotic synchronisation convergence is achieved in the presence of linearly parameterised model uncertainties. Simulation results show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)145-158
Number of pages14
JournalInternational Journal of Systems Science
Volume45
Issue number2
DOIs
StatePublished - 1 Feb 2014

Keywords

  • Lagrangian system
  • adaptive redesign
  • backstepping
  • synchronisation

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