ROBUST OUTPUT SYNCHRONIZATION OF ARRAYS OF LAGRANGIAN SYSTEMS

We propose a technique to synchronize arrays of Lagrangian systems. The objective is to obtain identical asymptotic synchronization between their outputs in spite of the existence of parametric uncertainties or bounded external perturbations in all systems. Moreover system outputs must converge to a reference signal. The solution of this problem is based on the stabilization of the origin of auxiliary error systems that represent the connections in the array. This stabilization is obtained by means of a control structure that uses a robust observer to estimate the velocity vectors and the perturbation terms that will be compensated by the control input. The performance of the synchronization technique is illustrated with an example where three pendulums are synchronized under different interconnection configurations.