Distributed formation control of networked mechanical systems

Autor:	Javanmardi, N., Borja, P., Yazdanpanah, M. J., Scherpen, J. M. A.
Rok vydání:	2022
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: 6 pages, 3 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2203.09484 Zobrazit plný text záznamu View this record from Arxiv