Adaptive Tracking Control for Lagrangian Networks with Unknown Dynamics over a Directed Graph
Quanjun Wu, CAI Jingjing, ZHAO Liyun, Hua Zhang · 2018
This paper investigates the tracking synchronization problem of delayed networked Lagrangian systems over directed networks. A tracking synchronization protocol based on the periodically intermittent control scheme is proposed for such systems in the presence of parametric uncertainties. Some algebraic criteria for tracking synchronization with time-delays are established. It turns out that these criteria can provide a novel periodically intermittent control strategy to synchronize globally networked Lagrangian systems to a given time-varying target trajectory. Finally, numerical simulation results are given to show the effectiveness of the proposed control algorithms.