Leader-Following Consensus for Multiple Euler–Lagrange Systems by Distributed Position Feedback Control
Changran He, Jie Huang
Abstract
In this article, we study the leader-following consensus problem for multiple Euler–Lagrange (EL) systems with natural damping over static and connected communication networks by a distributed position feedback control law. By combining the adaptive distributed observer for a leader system and the dynamic compensator technique for dealing with a single EL system by position feedback control, we synthesize a distributed position feedback control law and show that this control law solves the leader-following consensus problem for multiple EL systems with natural damping. A numerical example will be used to illustrate our design.
Topics & Concepts
Control theory (sociology)Observer (physics)ConsensusPosition (finance)Computer scienceFeedback controlControl (management)Adaptive controlControl engineeringMulti-agent systemEngineeringArtificial intelligenceFinanceEconomicsPhysicsQuantum mechanicsDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationControl and Stability of Dynamical Systems