2015
DOI: 10.1109/tcns.2014.2378875
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Abstract: This paper investigates the synchronization of a network of Euler-Lagrange systems with leader tracking. The Euler-Lagrange systems are heterogeneous and uncertain and contain bounded, exogenous disturbances. The network leader has a timevarying trajectory which is known to only a subset of the follower agents. A robust integral sign of the error-based decentralized control law is developed to yield semiglobal asymptotic agent synchronization and leader tracking.

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Cited by 74 publications
(39 citation statements)
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References 39 publications
(53 reference statements)
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“…As observed by the authors in recent preliminary investigations, simple model‐independent controllers of the form in (), and in , have an advantage in the sense that they are easier to study in the event‐based framework. This is in contrast to the complex model‐independent controllers in .…”
Section: Resultsmentioning
confidence: 90%
See 1 more Smart Citation
“…As observed by the authors in recent preliminary investigations, simple model‐independent controllers of the form in (), and in , have an advantage in the sense that they are easier to study in the event‐based framework. This is in contrast to the complex model‐independent controllers in .…”
Section: Resultsmentioning
confidence: 90%
“…Using global knowledge to design control gains for coordination of Euler–Lagrange networks is also reported in, for example, , and for coordination of directed networks where agents have general nonlinear dynamics described by Lipschitz continuous functions . Semi‐global results in consensus literature include , and can arise when the agent dynamics are modelled by nonlinear functions which are not globally Lipschitz (Assumption A4 indicates that typical Euler–Lagrange systems do not satisfy this global Lipschitz condition).…”
Section: Resultsmentioning
confidence: 99%
“…Let P be defined as the generalized solution to the differential equation Ṗ=Ė2+Λ2E2TNdβSgnE2,P(0)=k=1Fmβk,kE2(0)kE2T(0)Nd(0), where β k , k denotes the k th diagonal entry of the diagonal gain matrix β . Provided the sufficient gain condition in is satisfied, then P0 for all t ∈[0, ∞ ).Remark Because the closed‐loop error system in and the derivative of the signal P in are discontinuous, the existence of Filippov solutions in the given differential equations is addressed before the Lyapunov‐based stability analysis is presented. Consider the composite vector η[]ZT,νL+1T,,νL+FT,PTdouble-struckR4Fm+1, composed of the stacked error signals, the signal contributing discontinuities to the derivative of the developed controller, and the aforementioned auxiliary signal P .…”
Section: Stability Analysismentioning
confidence: 99%
“…Although terminology has been inconsistent in the literature, synchronization (cf. ) typically refers to the generalization of the consensus problem by allowing the desired state of the networked systems to be time‐varying. The desired trajectory for the cooperating systems is typically specified by a network leader, which can be a preset time‐varying function or a physical system that the ‘follower’ systems interact with via sensing or communication.…”
Section: Introductionmentioning
confidence: 99%
“…The first results on consensus (synchronization) of a particular class of EL-agents were reported in (Rodriguez- Angeles and Nijmeijer, 2004;Chopra and Spong, 2005) and, the case of general, nonidentical, EL-systems with delays was first reported in (Nuño et al, 2011). Since then, a plethora of different controllers have been proposed to solve consensus problems, from simple Proportional plus damping (P+d) schemes (Ren, 2009;Nuño et al, 2013b,a) to more elaborated adaptive (Chung and Slotine, 2009;Nuño et al, 2011;Meng et al, 2014;Abdessameud et al, 2015;Chen et al, 2015) and sliding-mode controllers (Klotz et al, 2015).…”
Section: Introductionmentioning
confidence: 99%