文章基本信息

标题：Passivity based distributed tracking control of networked Euler-Lagrange systems
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作者：Rodolfo Reyes-Báez ; Arjan van der Schaft ; Bayu Jayawardhana 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：23
页码：136-141
DOI：10.1016/j.ifacol.2018.12.024
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we present three distributed control laws for the coordination of networked Euler-Lagrange (EL) systems. We first reformulate the passivity-based control design method in Arcak (2007) by considering that each edge is associated with anartificial spring systeminstead of the usual diffusive coupling among the communicating agents. With this configuration, the networked EL system possesses a "symmetric" feedback structure which together with the strict passivity of both agents’ and edges’ dynamics lead to a strictly passive network dynamics. Subsequently we present the networked version of two different passivity-based tracking controllers that are particular cases of our method. A numerical simulation is presented to show the performance of the proposed method.
关键词：KeywordsMulti-agent systemspassivity-based controlEuler-Lagrange systemsdistributed control