Synchronization of uncertain Euler-Lagrange systems with unknown time-varying communication delays

Klotz, Justin R.; Obuz, Serhat; Kan, Zhen; Dixon, Warren E.

doi:10.1109/acc.2015.7170814

Cited by 14 publications

(17 citation statements)

References 24 publications

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Section: Resultsmentioning

confidence: 97%

“…Future research on cooperative containment control may also include the development of a distributed controller that is subject to the effects of practical communication, such as communication delays and packet dropouts (cf. [36][37][38][39]). L 1 B L L il D 1 8i 2 ¹1; : : : ; F º, and L 1 B L L il > 0 8i 2 ¹1; : : : ; F º ; 8l 2 ¹1; : : : ; Lº by the aforementioned conclusions.…”

Section: Simulationmentioning

confidence: 99%

See 1 more Smart Citation

Robust containment control in a leader-follower network of uncertain Euler-Lagrange systems

Klotz

Cheng

Dixon

2016

Int. J. Robust. Nonlinear Control

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Summary A distributed controller is developed that yields cooperative containment control of a network of autonomous dynamical systems. The networked agents are modeled with uncertain nonlinear Euler–Lagrange dynamics affected by an unknown time‐varying exogenous disturbance. The developed continuous controller is robust to input disturbances and uncertain dynamics such that asymptotic convergence of the follower agents' states to the dynamic convex hull formed by the leaders' time‐varying states is achieved. Simulation results are provided to demonstrate the effectiveness of the developed controller. Copyright © 2016 John Wiley & Sons, Ltd.

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Section: Resultsmentioning

confidence: 97%

Section: Simulationmentioning

confidence: 99%

Robust containment control in a leader-follower network of uncertain Euler-Lagrange systems

Klotz

Cheng

Dixon

2016

Int. J. Robust. Nonlinear Control

Self Cite

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“…Remark 2 (14) is a special case of the general low-gain H 2 discrete algebraic Riccati equation (H 2 -DARE), which is written as follows:…”

Section: Full-state Couplingmentioning

confidence: 99%

“…and ρ > 0. ε is a parameter satisfying ε ∈ (0, 1], P ε satisfies (14) and is the unique solution of (14) for any ε > 0. ρ and ω max are defined in (13). In this protocol, the agents communicate…”

Section: Partial-state Couplingmentioning

confidence: 99%

Global and Semi-global Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation- A Scale-free Protocol Design

Liu

Saberi

Stoorvogel

et al. 2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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This paper studies regulated state synchronization of discrete-time homogeneous networks of non-introspective agents in presence of unknown non-uniform input delays. A scale free protocol is designed based on additional information exchange, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The proposed protocol is scalable and achieves state synchronization for any arbitrary number of agents. Meanwhile, an upper bound for the input delay tolerance is obtained, which explicitly depends on the agent dynamics.

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“…Synchronization for a homogeneous time‐varying network with nonuniform time‐varying communication delay was achieved in the works of Stoorvogel and Saberi (general system) and Ghabcheloo et al (single‐integrator system). Time‐varying communication delay was also considered in the work of Klotz et al for second‐order uncertain Euler‐Lagrange systems.…”

Section: Introductionmentioning

confidence: 99%

Synchronization in a network of identical continuous‐ or discrete‐time agents with unknown nonuniform constant input delay

Zhang

Saberi

Stoorvogel

2018

Intl J Robust & Nonlinear

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Summary This paper studies the synchronization problem for multiagent systems with identical continuous‐ or discrete‐time agents with unknown nonuniform constant input delays. The agents are connected via full‐ or partial‐state coupling. The agents are assumed to be asymptotically null controllable, ie, all eigenvalues are in the closed left‐half complex plane for continuous‐time agents or in the closed unit disc for discrete‐time agents. We derive an upper bound for the input delay tolerance, which explicitly depends on the agent dynamics. Moreover, for any unknown delay satisfying this upper bound, a low‐gain–based protocol design methodology is proposed without relying on exact knowledge of the network topology such that synchronization is achieved among agents for any network graph in a given set.

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Synchronization of uncertain Euler-Lagrange systems with unknown time-varying communication delays

Cited by 14 publications

References 24 publications

Robust containment control in a leader-follower network of uncertain Euler-Lagrange systems

Robust containment control in a leader-follower network of uncertain Euler-Lagrange systems

Global and Semi-global Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation- A Scale-free Protocol Design

Synchronization in a network of identical continuous‐ or discrete‐time agents with unknown nonuniform constant input delay

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