Distributed adaptive consensus algorithm for networked Euler-Lagrange systems

摘要

Most consensus protocols developed in the past are for linear-integrator systems or deterministic nonlinear systems. Here, the authors study the state consensus for non-point, non-linear networked Euler??Lagrange systems with unknown parameters. Specifically, state consensus problems with both coupling time delay and switching topology are investigated. By establishing a unified architecture based on the passivity property, adaptive consensus protocols are developed. It is shown that state consensus is reachable despite the unknown parameters, and the estimation errors of these parameters converge to zero. Furthermore, by introducing the leader??follower architecture, the authors show that each agent will converge its origin. Finally, a numerical example is given to illustrate the effectiveness of the proposed algorithms.