1,434 research outputs found
Second-Order Consensus of Networked Mechanical Systems With Communication Delays
In this paper, we consider the second-order consensus problem for networked
mechanical systems subjected to nonuniform communication delays, and the
mechanical systems are assumed to interact on a general directed topology. We
propose an adaptive controller plus a distributed velocity observer to realize
the objective of second-order consensus. It is shown that both the positions
and velocities of the mechanical agents synchronize, and furthermore, the
velocities of the mechanical agents converge to the scaled weighted average
value of their initial ones. We further demonstrate that the proposed
second-order consensus scheme can be used to solve the leader-follower
synchronization problem with a constant-velocity leader and under constant
communication delays. Simulation results are provided to illustrate the
performance of the proposed adaptive controllers.Comment: 16 pages, 5 figures, submitted to IEEE Transactions on Automatic
Contro
Similarity Decomposition Approach to Oscillatory Synchronization for Multiple Mechanical Systems With a Virtual Leader
This paper addresses the oscillatory synchronization problem for multiple
uncertain mechanical systems with a virtual leader, and the interaction
topology among them is assumed to contain a directed spanning tree. We propose
an adaptive control scheme to achieve the goal of oscillatory synchronization.
Using the similarity decomposition approach, we show that the position and
velocity synchronization errors between each mechanical system (or follower)
and the virtual leader converge to zero. The performance of the proposed
adaptive scheme is shown by numerical simulation results.Comment: 15 pages, 3 figures, published in 2014 Chinese Control Conferenc
Consensus of the Second-order Multi-agent Systems under Asynchronous Switching with a Controller Fault
© 2019, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. Asynchronous switching differing from asynchronous consensus may hinder the system to reach a consensus. This receives very limited attention, especially when the multi-agent systems have a controller fault. In order to analyze the consensus in this situation, this paper studies the consensus of the second-order multi-agent systems under asynchronous switching with a controller fault. We convert the consensus problems under asynchronous switching into stability problems and obtain important results for consensus with the aid of linear matrix inequalities. An example is given to illustrate the effect of asynchronous switching on the consensus, and to validate the analytical results in this paper
- …