Consensus with Connectivity Preservation of Uncertain Euler-lagrange Multi-agent Systems
The consensus problem for multiple Euler-lagrange systems has been extensively studied under various assumptions on the connectivity of the communication graph.In practice,it is desirable to enable the control law the capability of maintaining the connectivity of the communication graph,thus achieving consensus without assuming the connectivity of the communication graph.We call such a problem as consensus with connectivity preservation.In this paper,we will consider solving this problem for multiple uncertain Euler-lagrange systems.By combining the adaptive control technique and potential function technique,we will show that such a problem is solvable under a set of standard assumptions.By employing different potential functions,our approach will also lead to the solution of such problems as rendezvous,and flocking.
connectivity preservation Euler-lagrange systems consensus adaptive control
Yi Dong Jie Huang
Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Shatin,N.T.,Hong Kong
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1063-1068
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）