Achieving distributed consensus for networked uncertain Euler–Lagrange systems with average dwell time approach

Abstract

This paper proposes a novel distributed consensus achieving algorithm for switched networked Lagrange systems with uncertain parameters, in order to solve the abruptly occurrence problem of parameters changing and communication topologies switching. We first model the multirobot systems as switched networked Lagrange systems. Then, by introducing the network topology into the sliding mode vector, a unified distributed consensus tracking strategy is then proposed by systematically combining the average dwell time (ADT) approach and adaptive control method. Besides, a sufficient condition regarding the ADT among subsystems is derived to ensure the asymptotical consensus performance of the multirobot systems. A unified analysis methodology is developed to perform the convergence analysis for the closed-loop system by Lyapunov stable theory. Finally, illustrative examples and simulations are provided to demonstrate and validate the theoretical results.