Bipartite Consensus in Networked Euler–Lagrange Systems With Uncertain Parameters Under a Cooperation-Competition Network Topology
Jun Liu, Hengyu Li, Jun Ting Luo · IEEE Control Systems Letters · 2019
This letter studies the bipartite consensus control problem of networked Euler-Lagrange systems under directed network topology with the coexistence of positive and negative interaction weights. An adaptive bipartite consensus control law is proposed for solving bipartite consensus in networked Euler-Lagrange systems with uncertain parameters. By exploiting the specific structure of the Laplacian matrix associated with cooperation-competition networks, we introduce a novel coordinate transformation based on which the corresponding convergence analysis of closed-loop controlled systems is provided. Finally, simulations conducted on a network composed by seven two-link revolute joint manipulators are provided to illustrate the theoretical results.