Distributed Nonlinear Placement for a Class of Multicluster Euler–Lagrange Systems
将多簇欧拉-拉格朗日系统的分布式非线性配置问题转化为时变非合作博弈，设计由辅助双积分器和协调跟踪观测器组成的纳什均衡求解算法，并通过迭代和小增益定理证明收敛性。
In this article, the distributed nonlinear placement problem for a class of multicluster Euler–Lagrange systems is considered. The problem is first converted into a time-varying noncooperative game. A distributed Nash equilibrium seeking algorithm composed of an auxiliary double-integrator system and a coordinated-tracking observer is designed to solve the problem. The convergence results are established by an iterative approach and the small gain theorem. The effectiveness of the algorithm is demonstrated via simulations.