Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents

• Published in: IEEE transactions on automatic control Vol. 69; no. 6; pp. 3912 - 3927
• Main Authors: Tao, Tian, Roy, Spandan, De Schutter, Bart, Baldi, Simone
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive synchronization; Adaptive systems; Cranes; distributed control; Euler–Lagrange (EL) dynamics; Mass matrix; Power system dynamics; Protocols; Stability; Synchronism; Synchronization; System dynamics; Uncertainty; underactuated systems; Vehicle dynamics
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2023.3349099

This article proposes a framework for adaptive synchronization of uncertain underactuated Euler-Lagrange (EL) agents. The designed distributed controller can handle both state-dependent uncertain system dynamics terms and state-dependent uncertain interconnection terms among neighboring agents. No structural knowledge of such terms is required other than the standard properties of EL systems (positive definite mass matrix, bounded gravity, velocity-dependent friction bound, etc.). The study of stability relies on a suitable analysis of the nonactuated and the actuated synchronization errors, resulting in stable error dynamics perturbed by parametrized state-dependent uncertainty. This uncertainty is tackled via appropriate adaptation laws, giving stability in the uniform ultimate boundedness sense, in line with available literature on state-dependent uncertain system dynamics and/or state-dependent uncertain interconnections. An example with a network of boom cranes is used to validate the proposed approach.