Dynamic feedback for consensus of networked Lagrangian systems with switching topology
Hanlei Wang · 2017
This paper investigates the consensus problem of multiple uncertain Lagrangian systems with switching topologies. Due to the discontinuity resulted from switching topologies, achieving consensus in the context of uncertain Lagrangian systems is challenging. We propose a new adaptive controller based on dynamic feedback to resolve this problem and additionally propose a new analysis tool for rigorously demonstrating the stability and convergence of the networked systems. The new introduced analysis tool is referred to as uniform integral-£pstability, which is motivated for addressing integralinput-output properties of linear time-varying interconnection systems. It is shown that the consensus errors between the systems converge to zero so long as the union of the interaction graphs in each of an infinite sequence of time intervals contains a directed spanning tree. The performance of the proposed adaptive controller is shown by a numerical simulation.