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Group consensus for multiple networked Euler-Lagrange systems with parametric uncertainties |
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| Authors: | Hongxiang Hu Zhe Zhang Li Yu Wenwu Yu Guangming Xie |
| Affiliation: | 1. Department of Mathematics, Hangzhou Dianzi University, Hangzhou, 310018, China 2. Zhejiang Provincial United Key Laboratory of Embedded Systems, Department of Automation, Zhejiang University of Technology, Hangzhou, 310023, China 3. Department of Mathematics, Southeast University, Nanjing, 210096, China 4. School of Electrical and Computer Engineering, RMIT University, Melbourne, VIC, 3001, Australia 5. Faculty of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia 6. Center for Systems and Control, State Key Laboratory of Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, 100871, China |
| Abstract: | In this paper, a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain parameters. In the group consensus problem, the agents asymptotically reach several different states rather than one consistent state. A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus problem. It is shown that the group consensus is reachable even when the system contains the uncertain parameters. Furthermore, the multi-group consensus is discussed as an extension of the couple-group consensus, and then the group consensus with switching topology is considered. Simulation results are finally provided to validate the effectiveness of the theoretical analysis. |
| Keywords: | Euler-Lagrange system group consensus multi-agent systems switching topologies. |
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