Next Article in Journal
Semantic Distance Spreading Across Entities in Linked Open Data
Previous Article in Journal
Throughput of Wireless-Powered Based Multiuser System with Large-Scale Distributed Antennas
Article Menu

Export Article

Open AccessArticle
Information 2019, 10(1), 14;

Networked Euler-Lagrangian Systems Synchronization under Time-Varying Communicating Delays

Tianjin Key Laboratory for Control Theory and Applications in Complicated System, Tianjin University of Technology, Tianjin 300384, China
School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China
School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
Author to whom correspondence should be addressed.
Received: 17 December 2018 / Revised: 26 December 2018 / Accepted: 27 December 2018 / Published: 1 January 2019
PDF [789 KB, uploaded 3 January 2019]


This paper investigates the problem of the task-space synchronization control for networked Euler-Lagrange systems. In the considered systems, there are time-varying delays existing in the networking links and every subsystem contains uncertainties in both kinematics and dynamics. By adding new time-varying coupling gains, the negative effects caused by time-varying delays are eliminated. Moreover, to address the difficulties of parametric calibration, an adaptively synchronous protocol and adaptive laws are designed to online estimate kinematics and dynamic uncertainties. Through a Lyapunov candidate and a Lyapunov-Krasovskii functional, the asymptotic convergences of tracking errors and synchronous errors are rigorously proved. The simulation results demonstrate the proposed protocol guaranteeing the cooperative tracking control of the uncalibrated networked Euler-Lagrange systems in the existence of time-varying delays. View Full-Text
Keywords: synchronization; networked control; Euler-Lagrange system; time delay; uncertainties synchronization; networked control; Euler-Lagrange system; time delay; uncertainties

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Wang, H.; Zhao, Z.; Li, T. Networked Euler-Lagrangian Systems Synchronization under Time-Varying Communicating Delays. Information 2019, 10, 14.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Information EISSN 2078-2489 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top