Distributed formation control of networked mechanical systems

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

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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.

Original languageEnglish
Title of host publicationIFAC-PapersOnLine
EditorsGiancarlo Ferrari Trecate
PublisherElsevier
Pages294-299
Number of pages6
DOIs
Publication statusPublished - 2022
Event9th IFAC Conference on Networked Systems, NECSYS 2022 - Zurich, Switzerland
Duration: 5-Jul-20227-Jul-2022

Publication series

NameIFAC-PapersOnLine
PublisherElsevier
Number13
Volume55
ISSN (Print)2405-8963

Conference

Conference9th IFAC Conference on Networked Systems, NECSYS 2022
Country/TerritorySwitzerland
CityZurich
Period05/07/202207/07/2022

Keywords

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

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