Distributed adaptive coordination for multiple Lagrangian systems under a directed graph without using neighbors’ velocity information

Synchronization of nonlinear systems with communication delays and intermittent information exchange

“…Other related problems include flocking, swarming, and formation control of mechanical systems. Built around the existing solutions of the consensus problem for linear multi-agent systems, several coordinated control schemes have been recently developed for second-order nonlinear dynamics, which can describe various mechanical systems, with particular interest to leaderless synchronization, cooperative tracking with full access to the reference trajectory, and leader-follower problems (see, for instance, Abdessameud & Tayebi, 2009;Cai & Huang, 2014;Chen & Lewis, 2011;Dimarogonas, Tsiotras, & Kyriakopoulos, 2009;Liu, Xie, Ren, & Wang, 2013;Mei, Ren, Chen, & Ma, 2013;Mei, Ren, & Ma, 2011Meng, Dimarogonas, & Johansson, 2014;Su, Chen, Wang, & Lin, 2011;Wang, 2013;Zou, 2014, and references therein). Algebraic graph theory, matrix theory, and the Lyapunov direct method have been shown useful to address various problems related to the systems dynamics, such as uncertainties, and the interconnection topology between the team members.…”

Distributed observer‐based coordination for multiple Lagrangian systems using only position measurements

“…The same communication graph as [34] is given in Fig. 3, in which a directed spanning tree is contained.…”

Distributed adaptive output feedback consensus tracking for multi-agent systems with unknown nonlinearities

“…, W N ), and Φ = col(ϕ 1 , · · · , ϕ N ) ∈ R pN ×1 , ε = col(ε 1 , · · · , ε N ), ω = col(ω 1 , · · · , ω N ). Define e = ξ T θ T T , and d = ε + ω − 1 ⊗ f 0 , then we obtain the closed-loop dynamics aṡ e = Me + He − JWΦ + Δ, (14) where …”

“…In the wellknown pioneering works [4,5], Vicsek et al proposed a simple model of autonomous agents, and Olfati et al established a framework of consensus control for the first-order integrators with different communication networks. Since then, many results have been obtained from different perspectives such as finite-time consensus [6,7], quantized consensus [8,9], and consensus with different dynamics including first-order or second-order integrators, linear systems, and Euler-Lagrangian systems [10][11][12][13][14], just to name a few. Among the above literature, the consensus problems roughly fall into two types, the leaderless consensus where the consensus value is determined by the initial states of the agents, and the leader-following consensus or consensus tracking where all the agents synchronize to a leader.…”