Adaptive position feedback consensus of networked euler-lagrange systems in the presence of communication delays
Lijiao Wang, Yong Hu · 2016
This paper explores the leaderless consensus problem of multiple Euler-Lagrange (EL) systems interacted on directed graphs containing a spanning tree, provided that the velocity signals of the agents are unavailable. A delay-robust distributed output feedback control scheme is proposed within the observer-controller framework, which allows for dynamic uncertainties and uniform constant communication delays. A novel distributed sliding observer is first proposed such that the generalized joint velocities can be estimated online, and then the distributed adaptive controller with dynamic parameter updating is constructed based on the observed information. The proposed strategy can ensure the scaled weighted average consensus of the EL agents, and the convergence of consensus errors is proved via the Lyapunov stability analysis tool, the graph theory and the frequency domain input-output analysis tool. Finally, simulations on networked robotic manipulators are provided to testify the effectiveness of the theoretical approach.