Output synchronization control of Euler-Lagrange systems with nonlinear damping terms

Synchronization of networked Euler–Lagrange systems by sampled-data communication with time-varying transmission delays under directed topology

“…The systems (13) and (14) can be further written in a compact form as _ z ¼ Àρzðt À hðtÞÞ þ ρzðt À dðtÞÞ À ρJzðt À dðtÞÞ…”

“…However, most of the practical systems in the applications are nonlinear systems [25,14] for which these useful results cannot be directly applied. Encouragingly, several approaches have been proposed for the synchronization problem of networked Euler-Lagrange systems [11][12][13][15][16][17], which can model a large class of physical systems with intrinsic nonlinearity and strong coupling, such as mechanical systems [18] and electrical systems [19].…”

Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

“…The model (3) is an Euler-Lagrange system (Kyrkjebø and Pettersen, 2005), and satisfies the following properties (Ortega and )…”

Leader-Follower output reference state feedback synchronization control of Euler-Lagrange systems

“…The results were extended in [13] and [14] for systems with input constraints, and recently [15] has proposed a global nonlinear model-based observer for Euler-Lagrange systems. A tracking controller and velocity observer design using the sliding surface of [16] for robots were presented in [17], while [18] utilized the sliding surface in an output synchronization control of Euler-Lagrange systems using only position measurements of both the follower and the leader. The approach of [18] achieved semi-global uniformly ultimately bounded closed-loop errors under the restriction of only position measurements of both systems.…”