On the leader-follower synchronization of Euler-Lagrange systems

Abdelkader Abdessameud, Abdelhamid Tayebi, Ilia G. Polushin

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

4 Scopus citations

Abstract

In this paper we study the leader-follower synchronization problem of networked uncertain Euler-Lagrange systems under directed interconnection graphs. We first consider the case of ideal communication between agents and present an adaptive distributed control algorithm such that a group of Euler-Lagrange systems asymptotically synchronize their states to those of a dynamic leader with a time-varying trajectory. Then, we propose a modified design that achieves the same control objective under the assumption of intermittent discrete-time communication in the presence of varying communication delays and possible packet dropout. It is shown that leader-follower synchronization is achieved under sufficient conditions that can be realized uniformly of the interconnection topology between agents for a given characteristics of the communication process. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1054-1059
Number of pages6
ISBN (Electronic)9781479978861
DOIs
Publication statusPublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Abdessameud, A., Tayebi, A., & Polushin, I. G. (2015). On the leader-follower synchronization of Euler-Lagrange systems. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 1054-1059). [7402011] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402011