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Distributed Source Seeking for Uncertain Networked Euler-Lagrange Systems Over Unbalanced Directed Communication Topologies
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DOI：10.1109/TCNS.2025.3626646.png)
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Abstract
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This article investigates the distributed source seeking problem for uncertain networked Euler-Lagrange systems over unbalanced directed communication topologies. The objective is to drive all agents toward the source of aggregated multiple unknown scalar fields. To achieve this, a novel distributed control protocol is proposed, which consists of three components: a distributed estimator for estimating the left eigenvector of the Laplacian matrix associated with the zero eigenvalue, a distributed optimizer for generating a virtual reference trajectory toward the source, and a trajectory tracker for exponentially driving each agent toward the reference trajectory. By employing the exponential trajectory tracker, the stochastic extremum seeking technique can be effectively integrated into our optimizer tailored for unbalanced directed topologies. By applying stochastic averaging theory, the weakly exponential convergence of the control protocol can be achieved. Finally, the effectiveness of the proposed distributed control protocol is demonstrated through a numerical example.
Keywords:
Euler-Lagrange (EL) systems
source seeking
unbalanced
uncertain
Euler-Lagrange (EL) systems
source seeking
unbalanced
uncertain
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1.6K
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5.8K
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