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

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.