Consensus of multiple Euler-Lagrange systems using one Euler-Lagrange System’s velocity measurements
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-014-0320-0
Abstract: This brief paper studies the stationary consensus of multiple Euler-Lagrange systems with nonlinear protocols. Two consensus protocols are given to guarantee that positions and velocities of multiple Euler-Lagrange systems reach consensus. Proposed protocols need only… read more here.
Keywords: consensus multiple; lagrange systems; euler lagrange; multiple euler ... See more keywords
Distributed Finite-Time Coordination Control for Networked Euler-Lagrange Systems Under Directed Graphs
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.191
Abstract: Abstract The distributed coordination problems for networked Euler-Lagrange systems are investigated in this paper, where both the distributed synchronization control and the distributed containment control are considered. Compared with the existing traditional asymptotically stable control… read more here.
Keywords: finite time; euler lagrange; control; coordination ... See more keywords
Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems.
Sign Up to like & getrecommendations! Published in 2021 at "ISA transactions"
DOI: 10.1016/j.isatra.2021.02.036
Abstract: This paper proposes a saturated smooth adaptive controller for regulating a certain type of underactuated Euler-Lagrange systems (UELSs) with modeling uncertainties and control saturations based on a singular perturbation approach. Compared with relevent literature, the… read more here.
Keywords: underactuated euler; lagrange systems; control; singular perturbation ... See more keywords
On reduced-complexity robust adaptive control of switched Euler–Lagrange systems
Sign Up to like & getrecommendations! Published in 2019 at "Nonlinear Analysis: Hybrid Systems"
DOI: 10.1016/j.nahs.2019.07.002
Abstract: Abstract State-of-the-art adaptive or robust adaptive techniques for several classes of uncertain switched systems demand structural knowledge of the system dynamics in order to appropriately select the regressor terms in the adaptive law. As a… read more here.
Keywords: euler lagrange; robust adaptive; system; complexity ... See more keywords
Neuroadaptive Control for Uncertain Euler-Lagrange Systems With Input and Output Constraints
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3069916
Abstract: This paper investigates the control issue of Euler-Lagrange systems (ELSs) subject to dynamic uncertainties and external disturbances under input and output constraints, and develops two neuroadaptive control schemes, i.e., direct neuroadaptive approximation method and indirect… read more here.
Keywords: euler lagrange; neuroadaptive control; control; input output ... See more keywords
Centralized Control in Networks of Underactuated Nonidentical Euler–Lagrange Systems Using a Generalised Multi-Coordinates Transformation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3178606
Abstract: Controlling the network of underactuated Euler–Lagrange (EL) systems is challenging because of their coupled inertia matrices and time-variant control input matrices. We present generalized multi-coordinates transformation that renders the network of underactuated Euler-Lagrange dynamics in… read more here.
Keywords: euler lagrange; control; multi coordinates; lagrange systems ... See more keywords
Designing Control Barrier Functions for Underactuated Euler–Lagrange Systems Using Dynamic Safety Margins
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2025.3570934
Abstract: This letter shows how to design control barrier functions for underactuated and fully-actuated Euler-Lagrange systems subject to state and input constraints. The proposed method uses passivity-based considerations to limit the total energy available to the… read more here.
Keywords: lagrange systems; euler lagrange; control; functions underactuated ... See more keywords
Fully Distributed Consensus of Multiple Euler–Lagrange Systems Under Switching Directed Graphs Using Only Position Measurements
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2023.3332009
Abstract: In this note, the distributed leaderless consensus problem of multiple Euler–Lagrange systems under switching directed graphs using only position measurements is investigated. We adopt a model reference adaptive consensus strategy to assign each agent a… read more here.
Keywords: consensus; switching directed; lagrange systems; multiple euler ... See more keywords
Distributed Consensus of Multiple Euler–Lagrange Systems Networked by Sampled-Data Information With Transmission Delays and Data Packet Dropouts
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2015.2448934
Abstract: In this paper, the distributed consensus problem for a class of multiple Euler–Lagrange systems is solved. The considered issues are: 1) sampled-data information; 2) transmission delay; and 3) data packet dropouts. The considered mathematical models… read more here.
Keywords: data packet; information; transmission; lagrange systems ... See more keywords
Distributed Coordination of Multiple Unknown Euler-Lagrange Systems
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Control of Network Systems"
DOI: 10.1109/tcns.2016.2578039
Abstract: A robust consensus tracking problem is addressed for multiple unknown Euler-Lagrange systems where only a subset of the agents is informed of the desired time-varying trajectory. Challenging unstructured uncertainties, including unknown nonlinear dynamics and disturbances,… read more here.
Keywords: lagrange systems; euler lagrange; unknown euler; multiple unknown ... See more keywords
Distributed Continuous-Time Algorithm for Constrained Optimization of Networked Euler–Lagrange Systems
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Control of Network Systems"
DOI: 10.1109/tcns.2021.3068352
Abstract: This article studies a distributed constrained optimization problem of multiple agents characterized by Euler–Lagrange systems with unknown inertial parameters. The optimization objective is to compute a feasible solution within the intersection of a series of… read more here.
Keywords: euler lagrange; optimization; distributed continuous; algorithm ... See more keywords