Adaptive backstepping-based synchronization of uncertain networked Lagrangian systems
2011
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.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
20
References
10
Citations
NaN
KQI