{"id":"https://openalex.org/W7124877949","doi":"https://doi.org/10.1109/access.2026.3655535","title":"Practical Prescribed Performance Multi-Cluster Consensus for Euler\u2013Lagrangian Systems With Unknown Parameters","display_name":"Practical Prescribed Performance Multi-Cluster Consensus for Euler\u2013Lagrangian Systems With Unknown Parameters","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7124877949","doi":"https://doi.org/10.1109/access.2026.3655535"},"language":null,"primary_location":{"id":"doi:10.1109/access.2026.3655535","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3655535","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3655535","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5123441971","display_name":"R Gopika","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"R. Gopika","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science (BITS), Pilani, K K Birla Goa Campus, Goa, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science (BITS), Pilani, K K Birla Goa Campus, Goa, India","institution_ids":["https://openalex.org/I4210148827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114789873","display_name":"Shubham Sawarkar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210146185","display_name":"Texas Instruments (Norway)","ror":"https://ror.org/05cswb132","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210146185","https://openalex.org/I74760111"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["CN","IN","NO"],"is_corresponding":false,"raw_author_name":"Shubham Sawarkar","raw_affiliation_strings":["Center for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India"],"affiliations":[{"raw_affiliation_string":"Center for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414","https://openalex.org/I4210146185","https://openalex.org/I4210091347"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123401428","display_name":"V. Resmi","orcid":null},"institutions":[{"id":"https://openalex.org/I2800731441","display_name":"Government of Kerala","ror":"https://ror.org/00r96e843","country_code":"IN","type":"government","lineage":["https://openalex.org/I2800731441"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"V. Resmi","raw_affiliation_strings":["Department of Physics, PTM Government College Perinthalmanna, Kerala, India"],"affiliations":[{"raw_affiliation_string":"Department of Physics, PTM Government College Perinthalmanna, Kerala, India","institution_ids":["https://openalex.org/I2800731441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010222753","display_name":"Rakesh R. Warier","orcid":"https://orcid.org/0000-0002-3396-0441"},"institutions":[{"id":"https://openalex.org/I114845381","display_name":"National Institute of Technology Calicut","ror":"https://ror.org/03yyd7552","country_code":"IN","type":"education","lineage":["https://openalex.org/I114845381"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rakesh R. Warier","raw_affiliation_strings":["Department of Electrical Engineering, National Institute of Technology Calicut, Kerala, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Institute of Technology Calicut, Kerala, India","institution_ids":["https://openalex.org/I114845381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123372885","display_name":"Pushpak Jagtap","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210146185","display_name":"Texas Instruments (Norway)","ror":"https://ror.org/05cswb132","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210146185","https://openalex.org/I74760111"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["CN","IN","NO"],"is_corresponding":false,"raw_author_name":"Pushpak Jagtap","raw_affiliation_strings":["Center for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India"],"affiliations":[{"raw_affiliation_string":"Center for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414","https://openalex.org/I4210146185","https://openalex.org/I4210091347"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123433052","display_name":"Sarang C. Dhongdi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sarang C. Dhongdi","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science (BITS), Pilani, K K Birla Goa Campus, Goa, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science (BITS), Pilani, K K Birla Goa Campus, Goa, India","institution_ids":["https://openalex.org/I4210148827"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5123441971"],"corresponding_institution_ids":["https://openalex.org/I4210148827"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13889953,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"12694","last_page":"12706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.0006000000284984708,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6420999765396118},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6044999957084656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5112000107765198},{"id":"https://openalex.org/keywords/bipartite-graph","display_name":"Bipartite graph","score":0.5090000033378601},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.4832000136375427},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4675000011920929},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44130000472068787},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.42730000615119934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7361999750137329},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6420999765396118},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6044999957084656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5112000107765198},{"id":"https://openalex.org/C197657726","wikidata":"https://www.wikidata.org/wiki/Q174733","display_name":"Bipartite graph","level":3,"score":0.5090000033378601},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.4832000136375427},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.47679999470710754},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4675000011920929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44130000472068787},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4302000105381012},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.42730000615119934},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.37940001487731934},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3749000132083893},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3614000082015991},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.26969999074935913},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C2983222225","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus algorithm","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2026.3655535","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3655535","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3655535","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3655535","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1967509640","https://openalex.org/W2023265378","https://openalex.org/W2059820882","https://openalex.org/W2097121541","https://openalex.org/W2331709302","https://openalex.org/W2560457117","https://openalex.org/W2903483009","https://openalex.org/W2976822178","https://openalex.org/W3012159287","https://openalex.org/W3037920390","https://openalex.org/W3193484362","https://openalex.org/W4210673166","https://openalex.org/W4286306535","https://openalex.org/W4315489140","https://openalex.org/W4319999961","https://openalex.org/W4381598571","https://openalex.org/W4385627501","https://openalex.org/W4390542875","https://openalex.org/W4392760906","https://openalex.org/W4399124513","https://openalex.org/W4400498211","https://openalex.org/W4400955384","https://openalex.org/W4415824277"],"related_works":[],"abstract_inverted_index":{"The":[0,17,105,133,164],"paper":[1],"addresses":[2],"the":[3,65,80,103,109,152,157,167,208],"challenge":[4],"of":[5,123,130,154,159,166,198],"achieving":[6],"practical":[7,118],"multi-cluster":[8,56,119,145],"consensus":[9,120,138],"among":[10],"agents":[11,23,63,160,177],"interacting":[12],"through":[13,172],"a":[14,28,70,86,182,196,203],"matrix-weighted":[15],"graph.":[16],"objective":[18],"is":[19,39,49,59,91,113,170],"to":[20,24,51,69,116,187],"coordinate":[21],"multiple":[22,179],"capture":[25],"or":[26],"escort":[27],"moving":[29],"target":[30,183],"while":[31,73,184],"forming":[32,202],"distinct":[33],"clusters":[34,75,155],"around":[35,79,181],"it.":[36],"Each":[37],"agent":[38],"modeled":[40],"by":[41],"Euler-Lagrange":[42],"(EL)":[43],"dynamics":[44],"with":[45,195],"unknown":[46],"parameters":[47],"and":[48,121,144,156],"subject":[50],"external":[52],"disturbances.":[53],"A":[54],"distributed":[55],"control":[57,89,111,210],"framework":[58,135],"proposed":[60,110,134,168,209],"in":[61,149,161],"which":[62],"within":[64,99],"same":[66],"cluster":[67],"converge":[68],"common":[71],"trajectory,":[72],"different":[74],"maintain":[76],"prescribed":[77,87],"formations":[78,180],"target.":[81],"To":[82],"ensure":[83],"reliable":[84],"performance,":[85],"performance":[88,125,189],"scheme":[90,112],"incorporated,":[92],"guaranteeing":[93],"that":[94],"relative":[95],"state":[96],"trajectories":[97],"remain":[98],"user-defined":[100,124,188],"bounds":[101,126],"throughout":[102],"task.":[104],"closed-loop":[106],"system":[107,131],"under":[108],"analytically":[114],"proven":[115],"achieve":[117,178],"satisfaction":[122],"without":[127],"requiring":[128],"knowledge":[129],"parameters.":[132],"supports":[136],"various":[137],"scenarios,":[139],"including":[140],"consensus,":[141,143,146],"bipartite":[142],"offering":[147],"flexibility":[148],"adjusting":[150],"both":[151],"number":[153,158],"each":[162],"cluster.":[163],"effectiveness":[165],"approach":[169],"verified":[171],"numerical":[173],"simulations,":[174],"where":[175],"twelve":[176],"strictly":[185],"adhering":[186],"functions.":[190],"Real-time":[191],"hardware":[192],"experiments,":[193],"conducted":[194],"team":[197],"five":[199],"differential-drive":[200],"robots":[201],"triangular":[204],"formation,":[205],"further":[206],"validate":[207],"strategy.":[211]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-01-21T00:00:00"}