SCIENTIA SINICA Informationis, Volume 46 , Issue 11 : 1608-1620(2016) https://doi.org/10.1360/N112016-00113

Group consensus in uncertain networked Euler-Lagrange systems with stochastic disturbances

More info
  • ReceivedAug 25, 2016
  • AcceptedSep 12, 2016
  • PublishedNov 9, 2016


This paper considers adaptive group consensus in uncertain networked Euler-Lagrange systems under directed acyclic topology graph. By considering input stochastic noises disturbances, the distributed adaptive group consensus protocols are proposed for two cases respectively, namely, the case where there do not exist the leaders and the case where there exist the leaders. Furthermore, a necessary and sufficient condition for solving group consensus problems in the sense of mean square is presented based on the specific structure of acyclic network topology. It is demonstrated that the developed group consensus condition is only dependent on the directed network topology with acyclic partition, and so it is easy to verify in practical applications. Finally, numerical simulations are given to show the effectiveness and validity of the theoretical results.

Funded by






[1] Yu J, Wang L. Group consensus in multi-agent systems with switching topologies and communication delays. Syst Control Lett, 2010, 59: 340-348 CrossRef Google Scholar

[2] Liu J, Zhou J. Distributed impulsive group consensus in second-order multi-agent systems under directed topology. Int J Control, 2015, 88: 910-919. Google Scholar

[3] Qin J, Yu C. Cluster consensus control of generic linear multi-agent systems under directed topology with acyclic partition. Automatica, 2013, 49: 2898-2905 CrossRef Google Scholar

[4] Yu J, Wang L. Group consensus of multi-agent systems with directed information exchange. Int J Syst Sci, 2012, 43: 334-348 CrossRef Google Scholar

[5] Liu J, Ji J C, Zhou J, et al. Adaptive group consensus in uncertain networked Euler-Lagrange systems under directed topology. Nonlinear Dyn, 2015, 82: 1145-1157 CrossRef Google Scholar

[6] Zhou J, Wu X J, Liu Z R. Distributed coordinated adaptive tracking in networked redundant robotic systems with a dynamic leader. Sci China Technol Sci, 2014, 57: 905-913 CrossRef Google Scholar

[7] Wu X J, Zhou J, Xiang L, et al. Impulsive synchronization motion in networked open-loop multiboday systems. Multibody Syst Dyn, 2013, 30: 37-52 CrossRef Google Scholar

[8] Ma M, Cai J, Zhou J. Adaptive practical synchronisation of Lagrangian networks with a directed graph via pinning control. IET Control Theory Appl, 2015, 9: 2157-2164 CrossRef Google Scholar

[9] Chung S J, Slotine J J E. Cooperative robot control and concurrent synchronization of Lagrangian systems. IEEE Trans Robot, 2009, 25: 686-700 CrossRef Google Scholar

[10] Wang H. Flocking of networked uncertain Euler-Lagrange systems on directed graphs. Automatica, 2013, 49: 2774-2779 CrossRef Google Scholar

[11] Wang H. Consensus of networked mechanical systems with communication delays: a unified framework. IEEE Trans Autom Control, 2014, 59: 1571-1576 CrossRef Google Scholar

[12] Mei J, Ren W, Ma G. Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph. Automatica, 2012, 48: 653-659 CrossRef Google Scholar

[13] Cui M Y, Wu Z J, Xie X J, et al. Modeling and adaptive tracking for a class of stochastic Lagrangian control systems. Automatica, 2013, 49: 770-779 CrossRef Google Scholar

[14] Cui M Y, Wu Z J, Xie X J. Output feedback tracking control of stochastic Lagrangian systems and its application. Automatica, 2014, 50: 1424-1433 CrossRef Google Scholar

[15] Li T, Zhang J F. Mean square average-consensus under measurement noises and fixed topologies: necessary and sufficient conditions. Automatica, 2009, 45: 1929-1936 CrossRef Google Scholar

[16] Li T, Wu F K, Zhang J F. Multi-agent consensus with relative-state-dependent measurement noises. IEEE Trans Autom Control, 2014, 59: 2463-2468 CrossRef Google Scholar

[17] Liu J, Liu X Z, Xie W, et al. Stochastic consensus seeking with communication delays. Automatica, 2011, 47: 2689-2696 CrossRef Google Scholar

[18] Wen G, Duan Z, Li Z. Stochastic consensus in directed networks of agents with non-linear dynamics and repairable actuator failures. IET Control Theory Appl, 2012, 6: 1583-1593 CrossRef Google Scholar

[19] Ni Y H, Li L. Consensus seeking in multi-agent systems with multiplicative measurement noises. Syst Control Lett, 2013, 62: 430-437 CrossRef Google Scholar

[20] Djaidja S, Wu Q. Stochastic consensus of leader-following multi-agent systems under additive measurement noise and time-delays. Eur J Control, 2015, 23: 55-61 CrossRef Google Scholar

Copyright 2020 Science China Press Co., Ltd. 《中国科学》杂志社有限责任公司 版权所有

京ICP备17057255号       京公网安备11010102003388号