Synchronization of Uncertain Euler–Lagrange Systems With Uncertain Time-Varying Communication Delays
针对通信延迟下网络化智能体的领导者同步问题，设计了一种分散控制器，适用于动力学不确定且受外部干扰的异构欧拉-拉格朗日系统，仅需单跳延迟通信，仿真显示性能优于其他控制设计。
A decentralized controller is designed for leader-based synchronization of communication-delayed networked agents. The agents have heterogeneous dynamics modeled by uncertain, nonlinear Euler-Lagrange equations of motion affected by heterogeneous, unknown, exogenous disturbances. The developed controller requires only one-hop (delayed) communication from network neighbors and the communication delays are assumed to be heterogeneous, uncertain, and time-varying. Each agent uses an estimate of communication delay to provide feedback of estimated recent tracking error. Simulation results are provided to demonstrate the improved performance of the developed controller over other popular control designs.