Cooperative Optimal Synchronization of Networked Uncertain Nonlinear Euler–Lagrange Heterogeneous Multi-Agent Systems With Switching Topologies

Abstract

This paper is concerned with design of distributed optimal synchronization control strategies for a class of networked nonlinear heterogeneous multi-agent (HMA) systems whose dynamics are governed by Euler-Lagrange (EL) equations. We employ optimal control techniques to design synchronization (consensus seeking) and set-point regulation controllers for HMA systems through optimization of individual cost functions. We introduce an analytical solution to the optimization problem and show that the developed optimal control laws can manage switchings in the communication network topology. Additionally, we propose two control strategies (namely, adaptive and robust) to modify and generalize the developed optimal control laws in presence of parametric uncertainties in the HMA systems. Simulation results for the attitude synchronization control of a network of eight spacecraft are presented to demonstrate the effectiveness and capabilities of our proposed control algorithms.

Cooperative tracking for nonlinear multi-agent systems with hybrid time-delayed protocol

“…In fact, many practical engineering problems can be modeled by nonlinear multi-agent systems, such as multiple interconnected distributed generators (DG) [38], coupled nonlinear oscillators [39] and mechanical systems [40,41]. For these coupled systems, a prescribed reference signal is often used to guide the whole coupled system to achieve the expected cooperative tracking.…”

Semi‐decentralized nonlinear cooperative control strategies for a network of heterogeneous autonomous underwater vehicles

“…The same problem is investigated in [6] by considering agents with uncertainties. Among the very few works in the literature related to cooperative control of heterogeneous nonlinear multi-agent systems, we can refer to our recent works on Euler-Lagrange networked multi-agent systems that have appeared in [13][14][15], and [16].Because of inability of feedback, linearization methods to overcome uncertainties, recently much attention has been devoted to Lyapunov-based control design techniques, such as the backstepping approach, the sliding mode control method, and a robust nonlinear control technique known as the dynamic surface control (DSC) [17]. The DSC methodology attempts to reduce the complexity of the integrator backstepping and sliding mode control methods.…”

“…The same problem is investigated in [6] by considering agents with uncertainties. Among the very few works in the literature related to cooperative control of heterogeneous nonlinear multi-agent systems, we can refer to our recent works on Euler-Lagrange networked multi-agent systems that have appeared in [13][14][15], and [16].…”