Distributed Adaptive Synchronization in Euler–Lagrange Networks With Uncertain Interconnections
- Resource Type
- Periodical
- Authors
- Tao, T.; Roy, S.; De Schutter, B.; Baldi, S.
- Source
- IEEE Transactions on Automatic Control IEEE Trans. Automat. Contr. Automatic Control, IEEE Transactions on. 69(2):1081-1088 Feb, 2024
- Subject
- Signal Processing and Analysis
Synchronization
Uncertainty
Control design
Lips
Standards
Adaptive systems
Friction
Adaptive synchronization
bounded interconnections
Euler–Lagrange (EL) dynamics
heterogeneous networks
- Language
- ISSN
- 0018-9286
1558-2523
2334-3303
In this article, we propose a new practical synchronization protocol for multiple Euler–Lagrange systems without structural linear-in-the-parameters (LIP) knowledge of the uncertainty and where the agents can be interconnected before control design by unknown state-dependent interconnection terms. This setting is meant to overcome two standard a priori assumptions in the literature concerning uncertainty with LIP structure and absence of interaction among agents before designing the synchronization protocol. To overcome these assumptions, we propose an adaptive distributed control mechanism having the purpose of estimating the coefficients of the resulting state-dependent uncertainty structur.