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, vol.48, no.2, pp.807-817, 2018 (SCI-Expanded) identifier identifier identifier

  • Publication Type: Article / Article
  • Volume: 48 Issue: 2
  • Publication Date: 2018
  • Doi Number: 10.1109/tcyb.2017.2657541
  • Journal Name: IEEE TRANSACTIONS ON CYBERNETICS
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.807-817
  • Eskisehir Osmangazi University Affiliated: Yes

Abstract

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.