Leader‐following consensus of multiple uncertain Euler‐Lagrange systems |
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Authors: | Maobin Lu Lu Liu |
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Affiliation: | Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon Tong, Hong Kong |
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Abstract: | A new adaptive distributed controller is developed for the leader‐following consensus problem of multiple uncertain Euler‐Lagrange systems. A distinct feature of our proposed approach as opposed to the existing ones is that it does not need the exchange of controller's state among the communication network. As a consequence, it not only makes the implementation of the controller much easier but also reduces the communication cost. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of multiple two‐link robot arms. |
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Keywords: | adaptive distributed control leader‐following consensus multiagent systems uncertain Euler‐Lagrange system |
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