Distributed leaderless consensus algorithms for networked Euler-Lagrange systems

• Published in: International journal of control Vol. 82; no. 11; pp. 2137 - 2149
• Main Author: Ren, Wei
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis Group 01.11.2009; Taylor & Francis
• Subjects: Applied sciences; Computer science; control theory; systems; consensus; Control theory. Systems; Euler-Lagrange system; Exact sciences and technology; Fundamental areas of phenomenology (including applications); leaderless coordination; Physics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; synchronisation; Euler Lagrange equation; Coordinate measuring machine; Saturation; Distributed algorithm; Topology; Modeling; Consensus; Actuator
• ISSN: 0020-7179; 1366-5820
• DOI: 10.1080/00207170902948027

This article proposes and analyses distributed, leaderless, model-independent consensus algorithms for networked Euler-Lagrange systems. We propose a fundamental consensus algorithm, a consensus algorithm accounting for actuator saturation, and a consensus algorithm accounting for unavailability of measurements of generalised coordinate derivatives, for systems modelled by Euler-Lagrange equations. Due to the fact that the closed-loop interconnected Euler-Lagrange equations using these algorithms are non-autonomous, Matrosov's theorem is used for convergence analysis. It is shown that consensus is reached on the generalised coordinates and their derivatives of the networked Euler-Lagrange systems as long as the undirected communication topology is connected. Simulation results show the effectiveness of the proposed algorithms.