Distributed model-independent consensus of Euler–Lagrange agents on directed networks
MetadataShow full item record
Funding and Sponsorship
This is the peer reviewed version of the following article: Ye, M., Anderson, B. D. O., and Yu, C. (2017) Distributed model-independent consensus of Euler–Lagrange agents on directed networks. Int. J. Robust. Nonlinear Control, 27: 2428– 2450, which has been published in final form at 10.1002/rnc.3689. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions.
This paper proposes a distributed model-independent algorithm to achieve leaderless consensus on a directed network where each fully-actuated agent has self-dynamics described by Euler–Lagrange equations of motion. Specifically, we aim to achieve consensus of the generalised coordinates with zero generalised velocity. We show that on a strongly connected graph, a model-independent algorithm can achieve the consensus objective at an exponential rate if an upper bound on the initial conditions is known a priori. By model-independent, we mean that each agent can execute the algorithm with no knowledge of the equations describing the self-dynamics of any agent. For design of the control laws which achieve consensus, a control gain scalar and a control gain matrix are required to satisfy several inequalities involving bounds on the matrices of the agent dynamic model, bounds on the Laplacian matrix describing the network topology and the set of initial conditions; design of the algorithm therefore requires some knowledge on the bounds of the agent dynamical parameters. Because only bounds are required, the proposed algorithm offers robustness to uncertainty in the parameters of the multiagent system. We systematically show that additional relative velocity information improves the performance of the controller. Numerical simulations are provided to show the effectiveness of the algorithm. Copyright © 2016 John Wiley & Sons, Ltd.
Showing items related by title, author, creator and subject.
Liu, Q.; Ye, Mengbin ; Qin, J.; Yu, C. (2019)This paper proposes three different distributed event-triggered control algorithms to achieve leader-follower consensus for a network of Euler-Lagrange agents. We first propose two model-independent algorithms for a ...
Ye, Mengbin ; Anderson, B.D.O.; Yu, C. (2016)The problem of trajectory tracking of a moving leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics is studied in this paper using a distributed, model-independent control law. ...
Leader Tracking of Euler-Lagrange Agents on Directed Switching Networks Using a Model-Independent AlgorithmYe, Mengbin ; Anderson, B.D.O.; Yu, C. (2019)In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with nonconstant velocity. We initially study a fixed ...