Tracking task-space synchronization of networked Lagrangian systems with switching topology

This paper investigates the tracking synchronization problem of networked Lagrangian systems with directed switching topologies in task space. A tracking synchronization protocol is developed for the systems with uncertainties in kinematic, dynamic and actuator models. The estimated parameters are updated by using three adaptive control laws to account for the uncertainties. It is found that the positions and velocities of networked Lagrangian systems can track the desired position and velocity in task space, under the condition that the graph topologies are jointly connected and balanced pointwise in time. Specifically, if the dynamic, kinematic and actuator parameters are certain, the tracking synchronization error will be exponentially convergent during a periodically intermittent interaction. Numerical examples and simulations are given to verify the theoretical analysis and demonstrate the effectiveness of the proposed control approach.