Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents
T. Tao (TU Delft - Team Bart De Schutter)
Spandan Roy (International Institute of Information Technology)
B. De Schutter (TU Delft - Delft Center for Systems and Control)
S. Baldi (Southeast University)
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Abstract
This article proposes a framework for adaptive synchronization of uncertain underactuated Euler-Lagrange (EL) agents. The designed distributed controller can handle both state-dependent uncertain system dynamics terms and state-dependent uncertain interconnection terms among neighboring agents. No structural knowledge of such terms is required other than the standard properties of EL systems (positive definite mass matrix, bounded gravity, velocity-dependent friction bound, etc.). The study of stability relies on a suitable analysis of the nonactuated and the actuated synchronization errors, resulting in stable error dynamics perturbed by parametrized state-dependent uncertainty. This uncertainty is tackled via appropriate adaptation laws, giving stability in the uniform ultimate boundedness sense, in line with available literature on state-dependent uncertain system dynamics and/or state-dependent uncertain interconnections. An example with a network of boom cranes is used to validate the proposed approach.