Hongbin Wang, Lili Ji, and Zhen Zhou
multiple Euler–Lagrange systems, consensus, model uncertaintiesand exogenous disturbance, extended state observer, distributedcontrol algorithm, switching topology
In this paper, consensus problem of multiple Euler–Lagrange systems is studied in the presence of both model uncertainties and exogenous disturbance. Only nominal parameters of Lagrange dynamics are assumed to be available. A distributed control algorithm combined with the extended state observer, which is adopted to estimate unmodelled dynamics and external disturbance, is first presented in this note such that all the agents can asymptotically reach a consensus. Moreover, the consensus with switching topology is also reachable with the proposed controller. Finally, simulation examples of networked manipulator systems are provided to show the effectiveness of the controller.
Important Links:
Go Back
