Distributed leaderless consensus algorithms for networked Euler-Lagrange systems
Distributed leaderless consensus algorithms for networked Euler-Lagrange systems
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DOI：
10.1080/00207170902948027
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发表时间：
2009-01-01
影响因子：
2.1
通讯作者：
Ren, Wei
中科院分区：
文献类型：
--
作者：
Ren, Wei
本文提出并分析了网络欧拉-拉格朗日系统的分布式、无领导、模型无关的一致性算法。我们提出了一个基本的共识算法，一致性算法占致动器饱和，和一个共识算法占广义坐标导数的测量不可用，为系统建模的欧拉-拉格朗日方程。由于使用这些算法的闭环互联Euler-Lagrange方程是非自治的，Matrosov定理用于收敛性分析。结果表明，只要无向通信拓扑是连通的，网络化欧拉-拉格朗日系统的广义坐标及其导数就能达成共识。仿真结果表明了所提算法的有效性。
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.