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GROUP CONSENSUS FOR MULTIPLE NETWORKED EULER-LAGRANGE SYSTEMS WITH PARAMETRIC UNCERTAINTIES

HU Hongxiang1, ZHANG Zhe2 , YU Li , YU Wenwu3 , XIE Guangming4   

  1. 1.Department of Mathematics, Hangzhou Dianzi University, Hangzhou 310018, China.; 2. Zhejiang Provincial United Key Laboratory of Embedded Systems, Department of Automation, Zhejiang University of Technology, Hangzhou 310023, China.; 3. Department of Mathematics, Southeast University, Nanjing 210096, China; School of Electrical and Computer Engineering, RMIT University, Melbourne VIC 3001, Australia; Faculty of Engineering, King Abdulaziz University, Jeddah 21589, Saudi Arabia. ;4. Center for Systems and Control, State Key Laboratory of Turbulence and Complex Systems, College of Engineering,Peking University, Beijing 100871, China.
  • Received:2012-07-17 Online:2014-08-25 Published:2014-08-19
  • Supported by:

    This research was supported by the National Natural Science Foundation of China under Grant Nos. 60974017,61273212, 61322302, 61104145, and 61004097, Zhejiang Provincial Natural Science Foundation of China under Grant No. LQ14F030011, the Natural Science Foundation of Jiangsu Province of China under Grant No. BK2011581, the Research Fund for the Doctoral Program of Higher Education of China under Grant No.20110092120024, and the Fundamental Research Funds for the Central Universities of China.

HU Hongxiang, ZHANG Zhe , YU Li , YU Wenwu , XIE Guangming. GROUP CONSENSUS FOR MULTIPLE NETWORKED EULER-LAGRANGE SYSTEMS WITH PARAMETRIC UNCERTAINTIES[J]. Journal of Systems Science and Complexity, 2014, 27(4): 632-649.

In this paper, a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain parameters. In the group consensus problem, the agents asymptotically reach several different states rather than one consistent state. A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus problem. It is shown that the group consensus is reachable even when the system contains the uncertain parameters. Furthermore, the multi-group consensus is discussed as an extension of the couple-group consensus, and then the group consensus with switching topology is considered. Simulation results are finally provided to validate the effectiveness of the theoretical analysis.
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