On networked Euler–Lagrangian systems consensus under switching topologies

Kun Liu, Depeng Sha, Liang Sun, Peijie Liu
2021 The Journal of Engineering  
This paper studies the consensus of multiple Euler-Lagrangian systems with dynamic uncertainties and the challenges to be solved lie on weak interaction, time-varying interaction and parametric uncertainties. 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. In addition, the concept of integral- p stability is employed. Under the control
more » ... 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 of switching topologies containing a directed spanning tree. The numerical simulations verify the effectiveness of the proposed protocol. J. Eng. 2021;2021:157-165. wileyonlinelibrary.com/iet-joe 157 How to cite this article: Liu K, Sha D, Sun L, Liu P. On networked Euler-Lagrangian systems consensus under switching topologies. J Eng. 2021;2021:157-165.
doi:10.1049/tje2.12020 fatcat:gysymnyphrgs5bv3ojppmjpbvm