Synchronization of Uncertain Euler-Lagrange Systems With Uncertain Time-Varying Communication Delays

Klotz J. R., OBUZ S., Kan Z., Dixon W. E.

IEEE TRANSACTIONS ON CYBERNETICS, cilt.48, sa.2, ss.807-817, 2018 (SCI-Expanded) identifier identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 48 Sayı: 2
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1109/tcyb.2017.2657541
  • Dergi Adı: IEEE TRANSACTIONS ON CYBERNETICS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.807-817
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

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.