This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in systemdynamics and possible switching topology.By introducing a novel adaptive control architecture,decentrali...This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in systemdynamics 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.展开更多
基金Supported by National Natural Science Foundation of China(61203354,61004021,61174069)National Basic Research Program of China(973 Program)(2012CB821206)+1 种基金Beijing Natural Science Foundation(4122037)the Ph.D.Programs Foundation of Ministry of Education of China(20110002110015)
文摘This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in systemdynamics 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.
