TY - JOUR
T1 - Backstepping-based synchronisation of uncertain networked Lagrangian systems
AU - Zhang, Wenlin
AU - Wang, Zheng
AU - Guo, Yi
PY - 2014/2/1
Y1 - 2014/2/1
N2 - 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.
AB - 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.
KW - Lagrangian system
KW - adaptive redesign
KW - backstepping
KW - synchronisation
UR - http://www.scopus.com/inward/record.url?scp=84884841812&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84884841812&partnerID=8YFLogxK
U2 - 10.1080/00207721.2012.669869
DO - 10.1080/00207721.2012.669869
M3 - Article
AN - SCOPUS:84884841812
SN - 0020-7721
VL - 45
SP - 145
EP - 158
JO - International Journal of Systems Science
JF - International Journal of Systems Science
IS - 2
ER -