Synchronization of Heterogeneous Euler-Lagrange Systems with Time Delays and Intermittent Information Exchange

This paper studies the synchronization problem of networked uncertain EulerLagrange systems with intermittent communication in the presence of irregular communication delays and possible information loss. The interconnection between agents is described by a directed graph containing a spanning tree. Based on the small-gain framework, we propose an adaptive distributed control algorithm to steer all agents’ positions to a common position with a prescribed desired velocity available to only some leaders. The communication between agents is intermittent in the sense that neighboring agents exchange their information in a discrete manner with possible packet dropout. Numerical simulation is provided to demonstrate the effectiveness of the proposed synchronization scheme.