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Article: Synchronization of networks of nonidentical euler-lagrange systems with uncertain parameters and communication delays

TitleSynchronization of networks of nonidentical euler-lagrange systems with uncertain parameters and communication delays
Authors
KeywordsAdaptive Control
Consensus
Delays
Synchronization
Issue Date2011
Citation
Ieee Transactions On Automatic Control, 2011, v. 56 n. 4, p. 935-941 How to Cite?
AbstractThis paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler-Lagrange equations, which are assumed fully-actuated, with their states available for measurement, but with unknown parameters. The only assumption made on the communication graph is that it is connected. Moreover, the communication is subject to constant time delays, which are also unknown. The main result of the paper is the construction of an adaptive controller that achieves global full-state synchronization, i.e., the difference between the agents positions and velocities asymptotically converges to zero. If a desired trajectory for all systems is given, a slight modification to the proposed scheme achieves also full-state synchronization. Simulations using a ten robot manipulator network are used to illustrate the performance of the proposed schemes. © 2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/169728
ISSN
2015 Impact Factor: 2.777
2015 SCImago Journal Rankings: 4.238
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorNuño, Een_US
dc.contributor.authorOrtega, Ren_US
dc.contributor.authorBasañez, Len_US
dc.contributor.authorHill, Den_US
dc.date.accessioned2012-10-25T04:54:28Z-
dc.date.available2012-10-25T04:54:28Z-
dc.date.issued2011en_US
dc.identifier.citationIeee Transactions On Automatic Control, 2011, v. 56 n. 4, p. 935-941en_US
dc.identifier.issn0018-9286en_US
dc.identifier.urihttp://hdl.handle.net/10722/169728-
dc.description.abstractThis paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler-Lagrange equations, which are assumed fully-actuated, with their states available for measurement, but with unknown parameters. The only assumption made on the communication graph is that it is connected. Moreover, the communication is subject to constant time delays, which are also unknown. The main result of the paper is the construction of an adaptive controller that achieves global full-state synchronization, i.e., the difference between the agents positions and velocities asymptotically converges to zero. If a desired trajectory for all systems is given, a slight modification to the proposed scheme achieves also full-state synchronization. Simulations using a ten robot manipulator network are used to illustrate the performance of the proposed schemes. © 2006 IEEE.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Automatic Controlen_US
dc.subjectAdaptive Controlen_US
dc.subjectConsensusen_US
dc.subjectDelaysen_US
dc.subjectSynchronizationen_US
dc.titleSynchronization of networks of nonidentical euler-lagrange systems with uncertain parameters and communication delaysen_US
dc.typeArticleen_US
dc.identifier.emailHill, D:en_US
dc.identifier.authorityHill, D=rp01669en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1109/TAC.2010.2103415en_US
dc.identifier.scopuseid_2-s2.0-79953782504en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-79953782504&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume56en_US
dc.identifier.issue4en_US
dc.identifier.spage935en_US
dc.identifier.epage941en_US
dc.identifier.isiWOS:000289203300025-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridNuño, E=23010213100en_US
dc.identifier.scopusauthoridOrtega, R=7202793493en_US
dc.identifier.scopusauthoridBasañez, L=6701755475en_US
dc.identifier.scopusauthoridHill, D=35398599500en_US

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