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首页> 外文期刊>IEEE Transactions on Automatic Control >Leader–Following Consensus of Multiple Uncertain Euler–Lagrange Systems With Unknown Dynamic Leader
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Leader–Following Consensus of Multiple Uncertain Euler–Lagrange Systems With Unknown Dynamic Leader

机译：具有未知动态领导者的不确定的多个欧拉-拉格朗日系统的领导者-遵循共识

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摘要

In this paper, we consider the leader-following consensus problem of uncertain Euler-Lagrange multi-agent systems. In comparison with existing results, the leader system is used to formulate both the reference trajectory and external disturbances, and the dynamics of the leader system contains unknown parameters. The current setting makes our problem formulation more realistic while at the same time, it poses significant technical challenges to the solvability of the problem. Inspired by the robust control approach and the adaptive control approach, we propose a novel adaptive distributed control law. It is shown that by the proposed control law, consensus of multiple uncertain Euler-Lagrange systems can be achieved in spite of unknown dynamic leader systems. Our main result is demonstrated by its exemplary application to co-operative control of a group of two-link robot arms.
机译：在本文中，我们考虑了不确定的Euler-Lagrange多智能体系统的前导跟随共识问题。与现有结果相比，前导系统用于制定参考轨迹和外部干扰，而前导系统的动力学参数未知。当前的设置使我们的问题表述更加现实，同时，它对问题的可解决性提出了重大的技术挑战。受鲁棒控制方法和自适应控制方法的启发，我们提出了一种新颖的自适应分布式控制律。结果表明，通过所提出的控制律，尽管存在未知的动态前导系统，仍可以实现多个不确定的Euler-Lagrange系统的共识。通过将其示例性地应用于一组两连杆机械臂的协同控制，证明了我们的主要结果。

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