Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 82, Issue 11, Pages 2137-2149Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207170902948027
Keywords
consensus; synchronisation; leaderless coordination; Euler-Lagrange system
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Funding
- National Science Foundation CAREER Award [ECCS-0748287]
- Directorate For Engineering [0748287] Funding Source: National Science Foundation
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This article proposes and analyses distributed, leaderless, model-independent consensus algorithms for networked Euler-Lagrange systems. We propose a fundamental consensus algorithm, a consensus algorithm accounting for actuator saturation, and a consensus algorithm accounting for unavailability of measurements of generalised coordinate derivatives, for systems modelled by Euler-Lagrange equations. Due to the fact that the closed-loop interconnected Euler-Lagrange equations using these algorithms are non-autonomous, Matrosov's theorem is used for convergence analysis. It is shown that consensus is reached on the generalised coordinates and their derivatives of the networked Euler-Lagrange systems as long as the undirected communication topology is connected. Simulation results show the effectiveness of the proposed algorithms.
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