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Adaptive backstepping synchronization for networked Lagrangian systems

Yassine Bouteraa, Jawhar Ghommam, Gerard Poisson
2012 International Journal of Computer Applications  
In section 3, non-adaptive algorithm for trajectory tracking and synchronization control based on backstepping technique and graph theory is presented.  ...  The proposed strategy is further extended to adaptive neural network coordination. The performance of synchronization control system and the nonlinear stability are derived by Lyapunov method.  ...  CONCLUSIONS A decentralized control law to trajectory tracking and motion synchronization of networked lagrangian s ys t e m s has been developed.  ... 
doi:10.5120/5741-7608 fatcat:zc5d6gkdtvbyjpalk3snekoizy

Distributed Adaptive Control for Networked Multi-Robot Systems [chapter]

Abhijit Das, Frank L.
2011 Multi-Robot Systems, Trends and Development  
We refer to consensus and synchronization in terms of control of manmade dynamical systems. Early work on cooperative decision and control for distributed systems includes (Tsitsiklis 1984).  ...  Synchronization behavior among agents is found in flocking of birds, schooling of fish, and other natural systems. Synchronization among coupled oscillators was studied by (Kuramoto 1975) .  ...  It gives the design of distributed adaptive controllers for second order nonlinear systems communicating on general strongly connected digraph network structures.  ... 
doi:10.5772/12902 fatcat:sxz7hz7os5eqnllb45lhznnagi

Lyapunov, Adaptive, and Optimal Design Techniques for Cooperative Systems on Directed Communication Graphs

Hongwei Zhang, Frank L. Lewis, Zhihua Qu
2012 IEEE transactions on industrial electronics (1982. Print)  
Neural adaptive control technique is adopted to solve the cooperative tracking problems of networked nonlinear systems with unknown dynamics and disturbances.  ...  ., cooperative tracking control of coupled Lagrangian systems and modified FitzHugh-Nagumo models, justify the feasibility of the proposed neural adaptive control technique.  ...  The second result is the design of distributed neural adaptive controllers for a group of networked nonlinear systems.  ... 
doi:10.1109/tie.2011.2160140 fatcat:epfxqc3zwrgxzaftmhidiuofui

Distributed consensus of networked Lagrangian systems with unknown nonidentical control directions

Yunfeng Ji, Song Tang, Na Liu, Gang Wang, Qingdu Li, Jianwei Zhang
2020 IEEE Access  
This paper deals with the distributed consensus problem without such requirements for networked Lagrangian systems subjected to uncertain dynamics.  ...  Unknown control directions are nonidentical in the sense that the control direction related to each control input in an individual Lagrangian system can be different and unknown as well as that the control  ...  Hence, designing distributed control schemes for networked Lagrangian systems is of great importance.  ... 
doi:10.1109/access.2020.2976903 fatcat:cuyw7fubzzcdxlizmcdje4houa

2019 Index IEEE Transactions on Control of Network Systems Vol. 6

2019 IEEE Transactions on Control of Network Systems  
., +, TCNS June 2019 737-749 Model reference adaptive control systems Output Synchronization of Unknown Heterogeneous Agents via Distributed Model Reference Adaptation.  ...  ., +, TCNS Dec. 2019 1415-1425 Output Synchronization of Unknown Heterogeneous Agents via Distributed Model Reference Adaptation.  ... 
doi:10.1109/tcns.2020.2967203 fatcat:y7saxrrnzvgxjmzz2vrl62ranu

Adaptive backstepping-based synchronization of uncertain networked Lagrangian systems

Wenlin Zhang, Zheng Wang, Yi Guo
2011 Proceedings of the 2011 American Control Conference  
In this paper, we study the synchronization problem of networked uncertain Lagrangian systems on directed communication topologies.  ...  For the nominal model, we propose a backstepping-based synchronization design for heterogenous Lagrangian systems on digraphs with a spanning tree.  ...  In section III, we formulate the networked Lagrangian system synchronization and the distributed adaptive redesign problem.  ... 
doi:10.1109/acc.2011.5990996 fatcat:nz3pfn33jndfrio6u6rnhh5y6e

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Soon-Jo Chung, Jean-Jacques E. Slotine
2009 IEEE Transactions on robotics  
We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control.  ...  In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and  ...  Miller at Massachusetts Institute of Technology (MIT).  ... 
doi:10.1109/tro.2009.2014125 fatcat:ymtlheokgfeyrewcrf7rddjhty

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Soon-Jo Chung, Jean-Jacques E. Slotine
2009 IEEE Transactions on robotics  
We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control.  ...  In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and  ...  Miller at Massachusetts Institute of Technology (MIT).  ... 
doi:10.1109/tro.2008.2014125 fatcat:qrgszznk6nhczgxonmkvtylc5a

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems [article]

Soon-Jo Chung, Jean-Jacques E. Slotine
2008 arXiv   pre-print
We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control.  ...  In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and  ...  Adaptive Synchronization We present the adaptive version of the proposed control law that adapts to the unknown parametric uncertainties of the robot dynamic models.  ... 
arXiv:0711.1709v4 fatcat:7xdgetrsfng7rnp3rf6tviaplu

Distributed model independent algorithm for spacecraft synchronization under relative measurement bias [article]

Himani Sinhmar, Sukumar Srikant
2018 arXiv   pre-print
We propose a novel distributed, model independent control law for synchronization of networked Euler Lagrange system with biased measurements.  ...  This paper addresses the problem of distributed coordination control of spacecraft formation.  ...  An algorithm for tracking of Lagrangian systems using only position measurements is developed in [8] by encompassing a distributed observer to estimate unknown velocity of the agents.  ... 
arXiv:1811.10055v1 fatcat:pecgalp27zbsfln3utv7337zcm

Table of Contents

2019 IEEE Transactions on Automatic Control  
Moreno 3034 Strict Lyapunov Functions for Model Reference Adaptive Control: Application to Lagrangian Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Hu 3019 State Estimation and Tracking Control for Hybrid Systems by Gluing the Domains . . . . . J. Kim, H. Shim, and J. H.  ... 
doi:10.1109/tac.2019.2917244 fatcat:6jmqtnw62ndxvoelxcjuj4r6ay

On networked Euler–Lagrangian systems consensus under switching topologies

Kun Liu, Depeng Sha, Liang Sun, Peijie Liu
2021 The Journal of Engineering  
The overlapped problem makes the control protocol of the networked Euler-Lagrangian system hard to analyze and design and to resolve the issue, a novel reference, as well as an adaptive protocol, is proposed  ...  Under the control of the proposed protocol, networking coupled Euler-Lagrange systems achieve synchronization which means inter-subsystems state errors converge to zero with a mild assumption of the union  ...  Considering the problem of asymptotic tracking control for a class of uncertain switched non-linear systems, [26] proposes a fuzzy adaptive control strategy that can guarantee the local asymptotic tracking  ... 
doi:10.1049/tje2.12020 fatcat:gysymnyphrgs5bv3ojppmjpbvm

Optimal control and learning for cyber‐physical systems

Yan Wan, Tao Yang, Ye Yuan, Frank L. Lewis
2021 International Journal of Robust and Nonlinear Control  
However, the traditional optimal control theory cannot be directly used because it was developed for systems that do not have the complexity level of modern systems we observe today.  ...  The performance of such integration or co-design is not fully understood or developed. This special issue focuses on the optimal control theory and learning for CPSs.  ...  In the paper titled "Event-based resilience to DoS attacks on communication for consensus of networked Lagrangian systems," Li et al. study the resilience of event-based consensus control of networked  ... 
doi:10.1002/rnc.5442 fatcat:2sqn5j3urrgcrbjxfx6vsgvnci

Coordinated motion of Lagrangian systems with auxiliary oscillators under cooperative and cooperative–competitive interactions

Liyun Zhao, Wen Li, Fuhong Wei, Juan Wang, Hongbo Bo
2020 Nonlinear dynamics  
In the case of weighted cooperative-competitive network, cluster oscillatory synchronization issue is solved for Lagrangian systems.  ...  Compared with the previous methods, three major advantages for introduction of auxiliary oscillator systems are that, firstly, Lagrangian systems reach the oscillatory synchronization with arbitrary amplitudes  ...  Compliance with ethical standards Conflict of interest All authors have declared that no conflict of interest exists.  ... 
doi:10.1007/s11071-020-05609-3 fatcat:zgzikvwbnbhibou3c7igzkcjri

2019 Index IEEE Transactions on Automatic Control Vol. 64

2019 IEEE Transactions on Automatic Control  
., +, TAC May 2019 2166-2173 Distributed Control of Synchronization of a Group of Network Nodes.  ...  ., +, TAC Feb. 2019 640-653 Reinforcement Learning-Based Adaptive Optimal Exponential Tracking Control of Linear Systems With Unknown Dynamics.  ... 
doi:10.1109/tac.2020.2967132 fatcat:o2hd2t4jz5fbpkcemjt5aj7xrm
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