Distributed formation control of networked mechanical systems

Authors

N. Javanmardi, P. Borja, M.J. Yazdanpanah, J.M.A. Scherpen

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.

Keywords

Autonomous systems; Cooperative control; Networked control systems; Large-scale systems; Port-Hamiltonian systems; Scalability

Citation

• Journal: IFAC-PapersOnLine
• Year: 2022
• Volume: 55
• Issue: 13
• Pages: 294–299
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2022.07.275
• Note: 9th IFAC Conference on Networked Systems NECSYS 2022- Zürich, Switzerland, 5–7 July 2022

BibTeX

@article{Javanmardi_2022,
  title={{Distributed formation control of networked mechanical systems}},
  volume={55},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2022.07.275},
  number={13},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Javanmardi, N. and Borja, P. and Yazdanpanah, M.J. and Scherpen, J.M.A.},
  year={2022},
  pages={294--299}
}

Download the bib file

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