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Impulsive practical tracking synchronization of networked uncertain Lagrangian systems without and with time-delays

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  • Ma, Mihua
  • Zhou, Jin
  • Cai, Jianping

Abstract

This paper presents a procedure for studying tracking synchronization of networked Lagrangian systems via impulsive control, where each agent is allowed to be nonidentical, even uncertain dynamics. Some algebraic criteria for tracking synchronization without and with time-delays are established respectively. It turns out that these criteria can provide a novel impulsive control strategy to synchronize globally networked Lagrangian systems to a given time-varying target trajectory with a desired tracking error bound (called as practical tracking synchronization). A distinctive feature of the developed control strategy is fully to take into account the effects of impulsive constraints, and thereby to yield impulsive synchronization motion of networked Lagrangian systems, provided that each agent instantaneously interacts with its neighbors only at some discrete moments. As a direct application of the theoretical results, practical tracking synchronization of nonidentical 3-DOF mobile robots without and with time-delays is discussed in detail. Simulation results illustrate and visualize the effectiveness and feasibility of the proposed control technique.

Suggested Citation

  • Ma, Mihua & Zhou, Jin & Cai, Jianping, 2014. "Impulsive practical tracking synchronization of networked uncertain Lagrangian systems without and with time-delays," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 415(C), pages 116-132.
    • Handle: RePEc:eee:phsmap:v:415:y:2014:i:c:p:116-132
    DOI: 10.1016/j.physa.2014.07.070
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    References listed on IDEAS

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    1. Liang, Yi & Wang, Xingyuan, 2014. "Synchronization in complex networks with non-delay and delay couplings via intermittent control with two switched periods," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 395(C), pages 434-444.
    2. Liu, Hui & Chen, Juan & Lu, Jun-an & Cao, Ming, 2010. "Generalized synchronization in complex dynamical networks via adaptive couplings," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 389(8), pages 1759-1770.
    3. Zhou, Jin & Xiang, Lan & Liu, Zengrong, 2007. "Global synchronization in general complex delayed dynamical networks and its applications," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 385(2), pages 729-742.
    4. Zhou, Jin & Xiang, Lan & Liu, Zengrong, 2007. "Synchronization in complex delayed dynamical networks with impulsive effects," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 384(2), pages 684-692.
    5. Yang, Yongqing & Cao, Jinde, 2007. "Exponential lag synchronization of a class of chaotic delayed neural networks with impulsive effects," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 386(1), pages 492-502.
    6. Li, Ping & Cao, Jinde & Wang, Zidong, 2007. "Robust impulsive synchronization of coupled delayed neural networks with uncertainties," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 373(C), pages 261-272.
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    Cited by:

    1. 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.

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