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Quasi-synchronization of Lagrangian networks with parameter mismatches and communication delays via aperiodically intermittent pinning control

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  • Ma, Mihua
  • Cai, Jianping
  • Zhang, Hua

Abstract

Quasi-synchronization of Lagrangian networks with a directed graph via aperiodically intermittent pinning control was investigated in this paper. The Lagrangian networks with parameter mismatches and communication delays are considered, which is different from most of the existing works. By applying linear feedback injections to a fraction of agents at discontinuous time, all the agents described by Lagrangian systems can be quasi-synchronized to a desired trajectory. This means that the proposed control strategy is not continuous-time control input, and it is not relied on the knowledge of Lagrangian system models. Based on the aperiodically intermittent pinning control, some general synchronization criteria are derived. As a direct application, quasi-synchronization of six two-link revolute manipulators with parameter mismatches and communication delays is discussed in detail. Numerical simulations with different kinds of pinning schemes illustrate and visualize the effectiveness and feasibility of the proposed control strategy.

Suggested Citation

  • Ma, Mihua & Cai, Jianping & Zhang, Hua, 2019. "Quasi-synchronization of Lagrangian networks with parameter mismatches and communication delays via aperiodically intermittent pinning control," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 525(C), pages 1146-1160.
    • Handle: RePEc:eee:phsmap:v:525:y:2019:i:c:p:1146-1160
    DOI: 10.1016/j.physa.2019.04.026
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    References listed on IDEAS

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