Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance

作者：Liu, Yang^*; Jia, Yingmin

来源：International Journal of Control Automation and Systems, 2017, 15(1): 205-211.

DOI：10.1007/s12555-015-0221-x

• Adaptive control
• consensus
• Euler-Lagrange system
• external disturbance
• parametric uncertainty

This article is devoted to the adaptive consensus control for directed networks of Euler-Lagrange systems with both unknown parametric uncertainties and bounded external disturbances. In particular, an adaptive protocol with simple distributed updating laws is proposed by combining the disturbance compensator technique, and the performance analysis is given to demonstrate that the states of all disturbed Euler-Lagrange systems can converge to consensus. A numerical example is included to illustrate the effectiveness of the developed protocol and validate the theoretical results.

• 出版日期2017-2
• 单位北京航空航天大学