Passivity based distributed tracking control of networked Euler-Lagrange systems
Abstract
In 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 \cite{Arcak} by considering that each edge is associated with an \emph{artificial spring system} instead 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 %local controllers that are particular cases of our method and the one in \cite{Arcak}. Numerical simulation is presented to show the performance of the proposed methods.
Keywords
Cite
@article{arxiv.1805.05873,
title = {Passivity based distributed tracking control of networked Euler-Lagrange systems},
author = {Rodolfo Reyes-Baez and Arjan van der Schaft and Bayu Jayawardhana},
journal= {arXiv preprint arXiv:1805.05873},
year = {2018}
}
Comments
Submitted to Necsys2018, 7 pages, 1 figure