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Distributed leaderless consensus control of multiple Euler-Lagrange systems with unknown control directions

机译：具有未知控制方向的多个Euler-Lagrange系统的分布式无线共识控制

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This paper investigates leaderless consensus control problem for a group of Euler-Lagrange systems with unknown control directions under an undirected connected graph in the presence of parametric uncertainties. A distributed adaptive controller is presented using the backstepping technique and a Nussbaum-type function. Moreover, the controller is distributed in the sense that the controller design for each system only requires relative information between itself and its neighbors. The projection algorithm is applied to guarantee that the estimated parameters remain in some known bounded sets. Lyapunov stability analysis shows that the consensus errors converge to zero asymptotically. Simulation results on multiple two-link planar elbow manipulators are provided to illustrate the performance of the proposed algorithm.
机译：本文在存在参数不确定性的情况下，研究了一组具有未知控制方向的欧拉拉格朗法令系统的无线共识控制问题。使用BackStepping技术和Nussbaum型功能呈现分布式自适应控制器。此外，控制器分布在每个系统的控制器设计中仅需要自身及其邻居之间的相对信息。应用投影算法以保证估计的参数留在一些已知的限定集中。 Lyapunov稳定性分析表明，共识误差会聚到零点渐近。提供了多个双连杆平面弯头操纵器的仿真结果以说明所提出的算法的性能。

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