Abstract
This paper presents distributed adaptive tracking control algorithms under fixed or switching communication graph for a team of agents, each of which is a special class of under-actuated Lagrangian system with uncertain parameters. The reference velocities of the unactuated and actuated variables are defined by an auxiliary system and the summation of the synchronization error and its integral, respectively. Based on such reference velocities and the linear-in-parameter property, distributed adaptive tracking controllers are designed for fixed graph with globally reachable leader, switching graph with globally reachable leader in each dwell time and switching graph with jointly globally reachable leader. Theoretical analyses are presented to demonstrate the convergence conditions of the proposed controllers. Finally, numerical simulations and experimental studies are performed to verify the effectiveness of the distributed adaptive tracking controllers.
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