Distributed formation control of networked mechanical systems
Systems and Control
2022-03-18 v1 Systems and Control
Abstract
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.
Cite
@article{arxiv.2203.09484,
title = {Distributed formation control of networked mechanical systems},
author = {N. Javanmardi and P. Borja and M. J. Yazdanpanah and J. M. A. Scherpen},
journal= {arXiv preprint arXiv:2203.09484},
year = {2022}
}
Comments
6 pages, 3 figures