Distributed leaderless consensus algorithms for networked Euler-Lagrange systems

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...

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Veröffentlicht in:International journal of control Jg. 82; H. 11; S. 2137 - 2149
1. Verfasser: Ren, Wei
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Abingdon Taylor & Francis Group 01.11.2009
Taylor & Francis
Schlagworte:
Applied sciences
Computer science; control theory; systems
consensus
Control theory. Systems
Euler-Lagrange system
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
leaderless coordination
Physics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
synchronisation
Euler Lagrange equation
Coordinate measuring machine
Saturation
Distributed algorithm
Topology
Modeling
Consensus
Actuator
ISSN:0020-7179, 1366-5820
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Beschreibung
Zusammenfassung: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.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207170902948027