Abstract:
A design method of adaptive consensus control of multi-agent systems composed of fully actuated mobile robots which are described as a class of Euler-Lagrange systems on ...Show MoreMetadata
Abstract:
A design method of adaptive consensus control of multi-agent systems composed of fully actuated mobile robots which are described as a class of Euler-Lagrange systems on directed network graphs, is presented in this paper based on the notion of inverse optimal H∞ control criterion. The proposed control scheme is deduced as a solution of certain H∞ control problem, where estimation errors of tuning parameters are considered as external disturbances to the process. The resulting control system is shown to be robust to uncertain system parameters and the approximate consensus tracking is achieved via adaptation schemes and L2-gain design parameters.
Date of Conference: 06-09 December 2016
Date Added to IEEE Xplore: 13 February 2017
ISBN Information: