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Adaptive backstepping synchronization for networked Lagrangian systems

by Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 42 - Number 12
Year of Publication: 2012
Authors: Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson
10.5120/5742-7608

Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson . Adaptive backstepping synchronization for networked Lagrangian systems. International Journal of Computer Applications. 42, 12 ( March 2012), 1-8. DOI=10.5120/5742-7608

@article{ 10.5120/5742-7608,
author = { Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson },
title = { Adaptive backstepping synchronization for networked Lagrangian systems },
journal = { International Journal of Computer Applications },
issue_date = { March 2012 },
volume = { 42 },
number = { 12 },
month = { March },
year = { 2012 },
issn = { 0975-8887 },
pages = { 1-8 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume42/number12/5742-7608/ },
doi = { 10.5120/5742-7608 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:31:07.010525+05:30
%A Yassine Bouteraa
%A Jawhar Ghommam
%A Gérard Poisson
%T Adaptive backstepping synchronization for networked Lagrangian systems
%J International Journal of Computer Applications
%@ 0975-8887
%V 42
%N 12
%P 1-8
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. Based on graph theory and Laplacian, the coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume the existence of direct communication channel with the leader, which mitigate the implementation cost, mainly when the cooperative robots number increases. The objective of the designed control law is to synchronize positions and velocities of multiple followers interconnected via the neighbor-based rule with respect to the leader's state. The proposed strategy is further extended to adaptive neural network coordination. The performance of synchronization control system and the nonlinear stability are derived by Lyapunov method. Simulations were performed to demonstrate the effectiveness of the proposed synchronization control approach.

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Index Terms

Computer Science
Information Sciences

Keywords

Cooperative Control Adaptive Mutual Synchronization Robots Coordination Graph Theory Backstepping Control

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