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Asymptotically consensus tracking control of connected Lagrangian systems with input quantization

Chaoli Wang  Yu Li  
【摘要】:This paper studies the leader-following consensus problem for a class of connected Lagrangian systems,which include input quantization,time-varying control gain and unknown bounded external disturbance under undirected communication topology.Because it is usually not easy to correctly measure the upper bounds of time-varying control gain,nor to measure bounded external disturbance,the upper bounds are considered unknown in this paper.In the undirected communication graph case,the bound of the leader's trajectory can be estimated by a group of observers for each agent.Then,based on the new technique of two-step adaptive distributed control,the tracking errors can asymptotically converge to zero.Moreover,the nonlinearities of the input quantization and the time-varying control gain can be compensated by a carefully selected smooth control protocol.It is shown that all the closed-loop signals are uniformly bounded,and a practical example simulation is given to demonstrate the effectiveness of the proposed scheme.

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