Adaptive consensus control for multiple EulerLagr

Authors: Yang Liu Yingmin Jia

Publish Date: 2016/12/23

Volume: 15, Issue: 1, Pages: 205-211

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Abstract

This article is devoted to the adaptive consensus control for directed networks of EulerLagrange 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 EulerLagrange systems can converge to consensus A numerical example is included to illustrate the effectiveness of the developed protocol and validate the theoretical resultsRecommended by Associate Editor Sung Jin Yoo under the direction of Editor Yoshito Ohta This work was supported by the National Basic Research Program of China 973 Program 2012CB821200 2012CB821201 the NSFC 61473015 61104147 61134005 61327807 61520106010 and the Fundamental Research Funds for the Central Universities YWF16GJSYS31 YWF16GJSYS32Yang Liu received the BS degree in mathematics and the PhD degree in control theory and applications both from Beihang University BUAA Beijing China in 2005 and 2010 respectively In 2010 she joined the Seventh Research Division at Beihang University where she is currently a lecturer of automatic control Her research interests include multiagent system robust control and eventtriggered controlYingmin Jia received the BS degree in control theory from Shandong University Ji’nan China in January 1982 and the MS and PhD degrees both in control theory and applications from Beihang University BUAA Beijing China in 1990 and 1993 respectively In 1993 he joined the Seventh Research Division at Beihang University where he is currently Professor of automatic control From February 1995 until February 1996 he was a visiting professor with the Institute of Robotics and Mechatronics of the German Aerospace Center DLR Oberpfaffenhofen Germany He held an Alexander von Humboldt AvH research fellowship with the Institute of Control Engineering at the Technical University HamburgHarburg Hamburg Germany from December 1996 until March 1998 and a JSPS research fellowship with the Department of Electrical and Electronic Systems at the Osaka Prefecture University Osaka Japan from March 2000 until March 2002 He was a visiting professor with the Department of Statistics at the University of California Berkeley from December 2006 until March 2007 His current research interests include robust control adaptive control and intelligent control and their applications in industrial processes and vehicle systems He is author and coauthor of numerous papers and of the book “Robust H∞ Control” Science Press 2007

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