Distributed adaptive consensus algorithm of Euler-Lagrange system with input and communication delays
Shouyi Liao · Control theory & applications · 2013
This paper deals with the consensus problem of networked Euler-Lagrange systems with unknown parameters.An adaptive controller is proposed which allows for the existence of input and communication delays under the directed communication topology.Barbalat’s Lemma,Lyapunov stability theorem and LMI methods are used to prove the stability of the proposed controller.Numerical simulation is also presented to demonstrate the effectiveness of the controller.