|Adaptive Consensus Control for Multiple Euler-Lagrange Systems with External Disturbance
Yang Liu* and Yingmin Jia
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.205-211, 2017
Abstract : "This article is devoted to the adaptive consensus control for directed networks of Euler-Lagrange systems
with both unknown parametric uncertainties and bounded external disturbances. In particular, an adaptive protocol
with simple distributed updating laws is proposed by combining the disturbance compensator technique, and the
performance analysis is given to demonstrate that the states of all disturbed Euler-Lagrange systems can converge
to consensus. A numerical example is included to illustrate the effectiveness of the developed protocol and validate
the theoretical results."
Adaptive control, consensus, Euler-Lagrange system, external disturbance, parametric uncertainty.
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