Tian Tao Spandan Roy Bart De Schutter Simone Baldi
Delft Center for Systems & Control, TU Delft Robotics Research Center, IIIT Hyderabad, India School of Mathematics, Southeast University
In this article, we propose a new practical synchronization protocol for multiple Euler–Lagrange systems without structural linear-in-the-parameters (LIP) knowledge of the uncertainty and where the agents can be interconnected before control design by unknown state-dependent interconnection terms. This setting is meant to overcome two standard a priori assumptions in the literature concerning uncertainty with LIP structure and absence of interaction among agents before designing the synchronization protocol. To overcome these assumptions, we propose an adaptive distributed control mechanism having the purpose of estimating the coefficients of the resulting state-dependent uncertainty structur.