Targeted agreement of multiple Lagrangian systems*

doi:10.1016/j.automatica.2017.07.010

CORC > 数学与系统科学研究院 > 中国科学院数学与系统科学研究院 > 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
刊名	AUTOMATICA
	2017-10-01
卷号	84 页码:109-116
关键词	Lagrangian systems Switching topologies Targeted agreement
ISSN号	0005-1098
DOI	10.1016/j.automatica.2017.07.010
英文摘要	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.
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
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000411546300015
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/26629]
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.