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

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  • Control Theory and Applications
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Abstract

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.

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Authors and Affiliations

  1. Seventh Research Division and School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, 100191, China

    Yang Liu & Yingmin Jia

Authors
  1. Yang Liu
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  2. Yingmin Jia
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Corresponding author

Correspondence to Yang Liu.

Additional information

Recommended by Associate Editor Sung Jin Yoo under the direction of Editor Yoshito Ohta. This work was supported by the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201), the NSFC (61473015, 61104147, 61134005, 61327807, 61520106010), and the Fundamental Research Funds for the Central Universities (YWF-16-GJSYS-31, YWF-16-GJSYS-32).

Yang Liu received the B.S. degree in mathematics and the Ph.D. degree in control theory and applications both from Beihang University (BUAA), Beijing, China, in 2005 and 2010, respectively. In 2010, she joined the Seventh Research Division at Beihang University, where she is currently a lecturer of automatic control. Her research interests include multi-agent system, robust control and event-triggered control.

Yingmin Jia received the B.S. degree in control theory from Shandong University, Ji’nan, China, in January 1982, and the M.S. and Ph.D. degrees both in control theory and applications from Beihang University (BUAA), Beijing, China, in 1990 and 1993, respectively. In 1993, he joined the Seventh Research Division at Beihang University, where he is currently Professor of automatic control. From February 1995 until February 1996 he was a visiting professor with the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany. He held an Alexander von Humboldt (AvH) research fellowship with the Institute of Control Engineering at the Technical University Hamburg-Harburg, Hamburg, Germany, from December 1996 until March 1998, and a JSPS research fellowship with the Department of Electrical and Electronic Systems at the Osaka Prefecture University, Osaka, Japan, from March 2000 until March 2002. He was a visiting professor with the Department of Statistics at the University of California Berkeley from December 2006 until March 2007. His current research interests include robust control, adaptive control and intelligent control, and their applications in industrial processes and vehicle systems. He is author and co-author of numerous papers and of the book “Robust H∞ Control” (Science Press 2007).

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Liu, Y., Jia, Y. Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance. Int. J. Control Autom. Syst. 15, 205–211 (2017). https://doi.org/10.1007/s12555-015-0221-x

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  • DOI: https://doi.org/10.1007/s12555-015-0221-x

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