Regular Papers

International Journal of Control, Automation and Systems 2017; 15(1): 205-211

Published online December 23, 2016

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

© The International Journal of Control, Automation, and Systems

Adaptive Consensus Control for Multiple Euler-Lagrange Systems with External Disturbance

Yang Liu* and Yingmin Jia

Beihang University

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.

Keywords Adaptive control, consensus, Euler-Lagrange system, external disturbance, parametric uncertainty.

Article

Regular Papers

International Journal of Control, Automation and Systems 2017; 15(1): 205-211

Published online February 1, 2017 https://doi.org/10.1007/s12555-015-0221-x

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Consensus Control for Multiple Euler-Lagrange Systems with External Disturbance

Yang Liu* and Yingmin Jia

Beihang University

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.

Keywords: Adaptive control, consensus, Euler-Lagrange system, external disturbance, parametric uncertainty.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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