Robust Consensus of a Class of Perturbed Port-Hamiltonian Systems With Time Delays

Authors

Jose Guadalupe Romero, Alejandro Donaire, Emmanuel Nuño, David Navarro-Alarcon

Abstract

In this article, we present a distributed control system design for the consensus of nonlinear multiagent systems subject to non-ideal communication channels and external disturbances. The agents are modeled as a class of perturbed port-Hamiltonian systems—a formalism to model complex physical and engineering systems—and the imperfection in the communication channels is represented by time-delays that are assumed to be bounded. We show that the proposed distributed controller ensures global asymptomatic convergence of the agents to a consensus equilibrium, despite external disturbances and time-delays. We also extend the results to Euler–Lagrange agents as a corollary of our main result. Simulation results, for a network of five, 2-degrees-of-freedom robotic manipulators show the performance of our proposed control design.

Citation

• Journal: IEEE Transactions on Automatic Control
• Year: 2025
• Volume: 70
• Issue: 12
• Pages: 8470–8477
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tac.2025.3593232

BibTeX

@article{Romero_2025,
  title={{Robust Consensus of a Class of Perturbed Port-Hamiltonian Systems With Time Delays}},
  volume={70},
  ISSN={2334-3303},
  DOI={10.1109/tac.2025.3593232},
  number={12},
  journal={IEEE Transactions on Automatic Control},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Romero, Jose Guadalupe and Donaire, Alejandro and Nuño, Emmanuel and Navarro-Alarcon, David},
  year={2025},
  pages={8470--8477}
}

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