Robust Synchronization Control of Switched Networked Euler–Lagrange Systems
研究了受干扰、网络延迟和切换网络影响的不确定欧拉-拉格朗日系统的同步问题，提出了一种自适应分布式控制律，并通过四连杆机械臂仿真验证了有效性。
In this article, we address the synchronization problem of networked uncertain Euler-Lagrange systems subject to disturbances, network delays, and uniformly connected switching networks. Compared with existing works, the current problem setting is more practical and technically more challenging. First, to tackle the disturbances under switching networks, we establish one lemma to show the convergence of a piecewise continuous function. Then, we establish the input-to-state stability (ISS) property of a class of perturbed time-delay systems to enable the distributed estimation of the system matrix and the output matrix of the leader system through delayed and switched network communication. Based on the certainty equivalence principle, we design an adaptive distributed control law. The synchronization control of four three-link cylindrical arms is used to demonstrate the effectiveness of the proposed approach.