Similarity Decomposition Approach to Oscillatory Synchronization for   Multiple Mechanical Systems With a Virtual Leader
  This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to contain a directed spanning tree. We propose an adaptive control scheme to achieve the goal of oscillatory synchronization. Using the similarity decomposition approach, we show that the position and velocity synchronization errors between each mechanical system (or follower) and the virtual leader converge to zero. The performance of the proposed adaptive scheme is shown by numerical simulation results. 
Hanlei Wang
cs.SY math.OC