Distributed Consensus of Euler-Lagrange Systems Under Switching Directed Graphs
Citations
25 citations
Cites background or methods from "Distributed Consensus of Euler-Lagr..."
...As mentioned in Section I, we presented in [28] a consensus algorithm for Euler–Lagrange systems that ensures a similar result under a switching topology....
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...approach has been exploited in our preliminary result [28] to solve the same problem using a discontinuous input torque for the Euler–...
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...The case of k = 2 was also highlighted in [28] without proof....
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21 citations
13 citations
Cites background or methods from "Distributed Consensus of Euler-Lagr..."
...As a result, the novel integral-input-output property of linear time-varying systems is introduced in [24] for the consensus convergence analysis, while the results in [25] and this current paper only need the standard setting of input-output properties of dynamical systems....
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...A common method is to introduce distributed sliding variables [17]–[25], inspired by the classical work of [43], where the control algorithms are firstly designed for the agents such that the agents’ states converge to the designed sliding surfaces....
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...The other concern is the associated topology representing the information interaction among the agents, including undirected graphs [15], [16], directed graphs [17]–[28], and even time-varying graphs [24], [25], [32]....
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...In [17]–[25], adaptive controllers are proposed for the parameter uncertainties....
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...The difference lies in the vanishing term, which is the derivative of the sliding variable in [24], the sliding variable in [25], and the relative tracking error in the current paper....
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7 citations
Cites background or methods from "Distributed Consensus of Euler-Lagr..."
...This generalizes the specific design and analysis in [12], [13] in the context of consensus of multiple Lagrangian systems with switching topologies, which basically introduces a reference velocity whose derivative or high-order derivative exists to realize consensus in the case of switching topologies....
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...considers both the time-varying delay and switching topologies (with or without relative velocity measurement), in contrast with the one in [13] that only handles the case with switching topologies and without relative velocity measurement....
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..., [12], [11], [13]), and we formally propose a new paradigm that is referred to as forwardstepping, which can be considered as a constructive approach....
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...The most attractive feature of the high-order solution, in our opinion, may lie in the design freedom that it provides, beyond the smoother control input as emphasized in [13]....
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...In the context involving only switching topologies, a specific solution in [13] extends the first-order solution in [12] to yield a reference velocity that is arbitrary times differentiable using an arbitrary-order dynamic system without involving relative velocity measurement, by combining the basic framework in [12] with the results for linear integrator systems (see, e....
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5 citations
Cites background from "Distributed Consensus of Euler-Lagr..."
...Remark 3.2: An augmented digraph G̃ constructed in this way inherits all the connectivity properties of digraph G (Abdessameud, 2018a)....
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...In fact, following the procedure in Abdessameud (2018a, 2018b) and K. Liu et al. (2016), we can construct a digraph G̃ = (Ṽ , Ẽ , Ã, ̃) as: Ṽ = V ∪ V ′, where V ′ = {1′, 2′, . . . ,N′} is associated with the vector z̄....
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References
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"Distributed Consensus of Euler-Lagr..." refers background in this paper
...For example, the authors in [1]–[3] studied the leaderless consensus problem for EulerLagrange systems under undirected graphs, and the case of directed graphs has been studied in [4]....
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475 citations