On networked Euler–Lagrangian systems consensus under switching topologies
Kun Liu, Depeng Sha, Liang Sun, Peijie Liu · The Journal of Engineering · 2021
Abstract This paper studies the consensus of multiple Euler–Lagrangian systems with dynamic uncertainties and the challenges to be solved lie on weak interaction, time‐varying interaction and parametric uncertainties. The overlapped problem makes the control protocol of the networked Euler–Lagrangian system hard to analyze and design and to resolve the issue, a novel reference, as well as an adaptive protocol, is proposed. In addition, the concept of integral‐ stability is employed. Under the control of the proposed protocol, networking coupled Euler–Lagrange systems achieve synchronization which means inter‐subsystems state errors converge to zero with a mild assumption of the union of switching topologies containing a directed spanning tree. The numerical simulations verify the effectiveness of the proposed protocol.