Abstract
This article studies the leaderless consensus problem of heterogeneous multiple networked Euler-Lagrange systems subject to persistent disturbances with unknown constant biases, amplitudes, initial phases, and frequencies. The main characteristic of this study is that none of the agents has information of a common reference model or of a common reference trajectory. Therefore, the agents must simultaneously and in a distributed way: achieve consensus to a common reference model (group model); achieve consensus to a common reference trajectory; and reject the unknown disturbances. We show that this is possible via a suitable combination of techniques of distributed 'observers,' internal model principle and adaptive regulation. The proposed design generalizes recent results on group model learning, which have been studied for linear agents over undirected networks. In this article, group model learning is achieved for Euler-Lagrange dynamics over directed networks in the presence of persistent unknown disturbances.
| Original language | English |
|---|---|
| Pages (from-to) | 2399-2406 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 68 |
| Issue number | 4 |
| Early online date | 5 May 2022 |
| DOIs | |
| Publication status | Published - Apr 2023 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 1963-2012 IEEE.
Funding
This work was supported in part by the Natural Sciences and Engineering Research Council, in part by the National Natural Science Foundation of China under Grant 62073074 and Grant 61773322, in part by the Research Fund for International Scientists under Grant 62150610499, in part by the Key Intergovernmental Special Fund of National Key Research and Development Program under Grant 2021YFE0198700, and in part by the Special Funding for Overseas under Grant 6207011901.
Keywords
- Cooperative control
- Euler-Lagrange system
- leaderless consensus
- multiagent system
- output regulation