Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance
作者： Yang Liu , Yingmin Jia
DOI: 10.1007/S12555-015-0221-X
关键词:
摘要: This article is devoted to the adaptive consensus control for directed networks of Euler-Lagrange systems with both unknown parametric uncertainties and bounded external disturbances. In particular, an protocol simple distributed updating laws proposed by combining disturbance compensator technique, performance analysis given demonstrate that states all disturbed can converge consensus. A numerical example included illustrate effectiveness developed validate theoretical results.
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