Coordination Control of Networked Euler-Lagrange Systems with Possible Switching Topology

摘要

This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in system dynamics and possible switching topology.By introducing a novel adaptive control architecture,decentralized controllers are developed,which allow for parametric uncertainties.Based upon graph theory,Lyapunov theory and switching control theory,the stability of the proposed algorithms are demonstrated.A distinctive feature of this work is to address the coordination control of EL systems with unknown parameters and switching topology in a unified theoretical framework.It is shown that both static and dynamic coordinations can be reached even when the communication is switching.Simulation results are provided to demonstrate the effectiveness of the obtained results.