DocumentCode
3537378
Title
Asymptotic synchronization of leader-follower networks of uncertain Euler-Lagrange systems
Author
Klotz, J. ; Kan, Z. ; Shea, J.M. ; Pasiliao, E.L. ; Dixon, Warren E.
Author_Institution
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
fYear
2013
fDate
10-13 Dec. 2013
Firstpage
6536
Lastpage
6541
Abstract
This paper investigates the synchronization of a network of Euler-Lagrange systems with leader tracking. The Euler-Lagrange systems are heterogeneous and uncertain and contain bounded, exogenous disturbances. Network communication is governed by an undirected topology. The network leader has a time-varying trajectory which is known to only a subset of the follower agents. A Robust Integral Sign of the Error (RISE) based decentralized control law is developed to guarantee semi-global asymptotic agent synchronization and leader tracking.
Keywords
decentralised control; directed graphs; multi-agent systems; topology; uncertain systems; RISE; asymptotic agent synchronization; asymptotic synchronization; decentralized control law; leader follower networks; leader tracking; network communication; robust integral sign of the error; uncertain Euler Lagrange systems; undirected topology; Lead; Robots; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location
Firenze
ISSN
0743-1546
Print_ISBN
978-1-4673-5714-2
Type
conf
DOI
10.1109/CDC.2013.6760923
Filename
6760923
Link To Document