Targeted agreement of multiple Lagrangian systems*

doi:10.1016/j.automatica.2017.07.010

CSpace > 系统科学研究所

	Targeted agreement of multiple Lagrangian systems*
	Meng, Ziyang 1; Yang, Tao 2; Shi, Guodong 3; Dimarogonas, Dimos V.4; Hong, Yiguang5 ; Johansson, Karl Henrik 4
	2017-10-01
发表期刊	AUTOMATICA
ISSN	0005-1098
卷号	84 页码:109-116
摘要	In this paper, we study the targeted agreement problem for a group of Lagrangian systems. Each system observes a convex set as its local target and the objective of the group is to reach a generalized coordinate agreement towards these target sets. Typically, the generalized coordinate represents position or angle. We first consider the case when the communication graphs are fixed. A control law is proposed based on each system's own target sensing and information exchange with neighbors. With necessary connectivity, the generalized coordinates of multiple Lagrangian systems are shown to achieve agreement in the intersection of all the local target sets while generalized coordinate derivatives are driven to zero. We also discuss the case when the intersection of the local target sets is empty. Exact targeted agreement cannot be achieved in this case. Instead, we show that approximate targeted agreement can be guaranteed if the control gains are properly chosen. In addition, when communication graphs are allowed to be switching, we propose a model-dependent control algorithm and show that global targeted agreement is achieved when joint connectivity is guaranteed and the intersection of local target sets is nonempty. Simulations are given to validate the theoretical results. (C) 2017 Elsevier Ltd. All rights reserved.
关键词	Lagrangian systems Switching topologies Targeted agreement
DOI	10.1016/j.automatica.2017.07.010
语种	英语
资助项目	National Natural Science Foundation of China[61503249] ; National Natural Science Foundation of China[61573344] ; National Key Research and Development Program of China[2016YFB0500900] ; Program 973[2014CB845301/2/3] ; Knut and Alice Wallenberg Foundation ; Swedish Research Council ; Alexander von Humboldt Foundation of Germany
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000411546300015
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/26630
专题	系统科学研究所
通讯作者	Meng, Ziyang
作者单位	1.Tsinghua Univ, Dept Precis Instrument, Beijing 100084, Peoples R China 2.Univ North Texas, Dept Elect Engn, Denton, TX 76203 USA 3.Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia 4.Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, S-10044 Stockholm, Sweden 5.Chinese Acad Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Meng, Ziyang,Yang, Tao,Shi, Guodong,et al. Targeted agreement of multiple Lagrangian systems*[J]. AUTOMATICA,2017,84:109-116.
APA	Meng, Ziyang,Yang, Tao,Shi, Guodong,Dimarogonas, Dimos V.,Hong, Yiguang,&Johansson, Karl Henrik.(2017).Targeted agreement of multiple Lagrangian systems*.AUTOMATICA,84,109-116.
MLA	Meng, Ziyang,et al."Targeted agreement of multiple Lagrangian systems*".AUTOMATICA 84(2017):109-116.