Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents

Reference

T. Tao, S. Roy, B. De Schutter, and S. Baldi, "Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents," IEEE Transactions on Automatic Control, vol. 69, no. 6, pp. 3912-3927, June 2024.

Abstract

This work proposes a framework for adaptive synchronization of uncertain underactuated Euler-Lagrange (EL) agents. The designed distributed controller can handle both state-dependent uncertain system dynamics terms and state-dependent uncertain interconnection terms among neighboring agents. No structural knowledge of such terms is required other than the standard properties of EL systems (positive definite mass matrix, bounded gravity, velocity-dependent friction bound, etc.). The study of stability relies on a suitable analysis of the non-actuated and the actuated synchronization errors, resulting in stable error dynamics perturbed by parametrized state-dependent uncertainty. This uncertainty is tackled via appropriate adaptation laws, giving stability in the uniform ultimate boundedness sense, in line with the available literature on state-dependent uncertain system dynamics and/or state-dependent uncertain interconnections. An example with a network of boom cranes is used to validate the proposed approach.

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Bibtex entry

@article{TaoRoy:24-005,
author={T. Tao and S. Roy and B. {D}e Schutter and S. Baldi},
title={Adaptive Synchronization of Uncertain Underactuated {E}uler-{L}agrange Agents},
journal={IEEE Transactions on Automatic Control},
volume={69},
number={6},
pages={3912--3927},
month=jun,
year={2024},
doi={10.1109/TAC.2023.3349099}
}

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