Journal
AUTOMATICA
Volume 49, Issue 6, Pages 1723-1731Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.02.058
Keywords
Multi-agent systems; Cooperative control; Distributed control; Containment control; Synchronization; Lagrangian system
Funding
- NSF/USA [ECCS-1213295]
- Hong Kong RGC [CityU 111810]
- City University of Hong Kong [9380054]
- National Natural Science Foundation of China [61174200, 61120106010]
- National Natural Science Foundation of Guangdong Province [S2012040007301]
- China Postdoctoral Science Foundation [2012M520737]
- Directorate For Engineering [1213295] Funding Source: National Science Foundation
- Div Of Electrical, Commun & Cyber Sys [1213295] Funding Source: National Science Foundation
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In this paper, we study the distributed coordination problem for multiple Lagrangian systems in the presence of parametric uncertainties under a directed graph without using neighbors' velocity information in the absence of communication. We consider two cases, namely, the distributed containment control problem with multiple stationary leaders and the leaderless synchronization problem. In both cases, distributed adaptive control algorithms without using neighbors' velocity information are proposed. The control gains in the algorithms are varying with distributed updating laws. Furthermore, necessary and sufficient conditions on the directed graph are presented, respectively, such that all followers converge to the stationary convex hull spanned by the stationary leaders asymptotically in the containment control problem and the systems synchronize asymptotically in the leaderless synchronization problem. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms. (C) 2013 Elsevier Ltd. All rights reserved.
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