Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs

Abdelkader Abdessameud

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

The consensus problem of Euler-Lagrange networks with parametric uncertainties is addressed in this paper. In particular, we present an adaptive distributed control algorithm that solves the leaderless consensus problem without conservative assumptions on the directed and switching interaction between agents. The proposed algorithm is based on an additional dynamical system that ensures the control objective without the need of relative velocity signals. We further show that the proposed protocol can be extended to take into account the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages56-61
Number of pages6
Volume2018-June
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    Abdessameud, A. (2018). Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs. In 2018 Annual American Control Conference, ACC 2018 (Vol. 2018-June, pp. 56-61). [8431632] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431632