Distributed adaptive consensus for multiple mechanical systems with switching topologies and time-varying delay |
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| Affiliation: | 1. Department of Mathematics and Statistics, Curtin University, Perth, Australia;2. School of Electrical Engineering, International University, Hochiminh City, Vietnam;3. Department of Electrical and Electronic Engineering, The University of Melbourne, Parkville, Australia;1. Center for Systems, Dynamics and Control, University of Exeter, Exeter, EX4 4JN, United Kingdom;2. Northumbria University, Newcastle upon Tyne, NE1 8ST, United Kingdom;1. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China;2. Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology), Ministry of Education, China;3. Hubei Provincial Collaborative Innovation Center for New Energy Microgrid, China Three Gorges University, China;4. State Key Laboratory of Advanced Electromagnetic Engineering and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;1. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;2. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, Wuhan 430074, China;3. Texas A & M University at Qatar, Doha 5825, Qatar;4. Electrical and Computer Engineering Department, University of Pittsburgh, Pittsburgh PA 15261, USA;5. Department of Electrical and Computer Engineering, Texas A & M University, College Station, TX 77843, USA |
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| Abstract: | This paper studies the adaptive consensus problem of networked mechanical systems with time-varying delay and jointly-connected topologies. Two different consensus protocols are proposed. First, we present an adaptive consensus protocol for the connected switching topologies. Based on graph theory, Lyapunov stability theory and switching control theory, the stability of the proposed algorithm is demonstrated. Then we investigate the problem under the more general jointly-connected topologies, and with concurrent time-varying communication delay. The proposed consensus protocol consists of two parts: one is for the connected agents which contains the current states disagreement among them and the other is designed for the isolated agents which contains the states difference between the current and past. A distinctive feature of this work is to address the consensus control problem of mechanical systems with unknown parameters, time-varying delay and switching topologies in a unified theoretical framework. Numerical simulation is provided to demonstrate the effectiveness of the obtained results. |
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| Keywords: | Mechanical systems Euler–Lagrange systems Coordination control Switching topologies Parametric uncertainties Time-varying delay |
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