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 study 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.
Consensus and Flocking With Connectivity Preservation of Uncertain Euler–Lagrange Multi-Agent Systems
Nanjing University of Science and Technology,
Nanjing 210000, China;
The Chinese University of Hong Kong,
Hong Kong, China
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 18, 2016; final manuscript received February 28, 2018; published online April 30, 2018. Assoc. Editor: Manish Kumar.
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Dong, Y., and Huang, J. (April 30, 2018). "Consensus and Flocking With Connectivity Preservation of Uncertain Euler–Lagrange Multi-Agent Systems." ASME. J. Dyn. Sys., Meas., Control. September 2018; 140(9): 091011. https://doi.org/10.1115/1.4039666
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