Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs

Abdelkader Abdessameud

doi:10.23919/ACC.2018.8431632

Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs

Abdelkader Abdessameud

School of Science, Engineering & Technology (Harrisburg)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

The consensus problem of Euler-Lagrange networks with parametric uncertainties is addressed in this paper. In particular, we present an adaptive distributed control algorithm that solves the leaderless consensus problem without conservative assumptions on the directed and switching interaction between agents. The proposed algorithm is based on an additional dynamical system that ensures the control objective without the need of relative velocity signals. We further show that the proposed protocol can be extended to take into account the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.

Original language	English (US)
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	56-61
Number of pages	6
Volume	2018-June
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8431632
State	Published - Aug 9 2018
Event	2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018

Other

Other	2018 Annual American Control Conference, ACC 2018
Country/Territory	United States
City	Milwauke
Period	6/27/18 → 6/29/18

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

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10.23919/ACC.2018.8431632

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title = "Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs",

abstract = "The consensus problem of Euler-Lagrange networks with parametric uncertainties is addressed in this paper. In particular, we present an adaptive distributed control algorithm that solves the leaderless consensus problem without conservative assumptions on the directed and switching interaction between agents. The proposed algorithm is based on an additional dynamical system that ensures the control objective without the need of relative velocity signals. We further show that the proposed protocol can be extended to take into account the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.",

author = "Abdelkader Abdessameud",

year = "2018",

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doi = "10.23919/ACC.2018.8431632",

language = "English (US)",

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volume = "2018-June",

pages = "56--61",

booktitle = "2018 Annual American Control Conference, ACC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "2018 Annual American Control Conference, ACC 2018 ; Conference date: 27-06-2018 Through 29-06-2018",

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Abdessameud, A 2018, Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs. in 2018 Annual American Control Conference, ACC 2018. vol. 2018-June, 8431632, Institute of Electrical and Electronics Engineers Inc., pp. 56-61, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 6/27/18. https://doi.org/10.23919/ACC.2018.8431632

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N2 - The consensus problem of Euler-Lagrange networks with parametric uncertainties is addressed in this paper. In particular, we present an adaptive distributed control algorithm that solves the leaderless consensus problem without conservative assumptions on the directed and switching interaction between agents. The proposed algorithm is based on an additional dynamical system that ensures the control objective without the need of relative velocity signals. We further show that the proposed protocol can be extended to take into account the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.

AB - The consensus problem of Euler-Lagrange networks with parametric uncertainties is addressed in this paper. In particular, we present an adaptive distributed control algorithm that solves the leaderless consensus problem without conservative assumptions on the directed and switching interaction between agents. The proposed algorithm is based on an additional dynamical system that ensures the control objective without the need of relative velocity signals. We further show that the proposed protocol can be extended to take into account the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.

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M3 - Conference contribution

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BT - 2018 Annual American Control Conference, ACC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 Annual American Control Conference, ACC 2018

Y2 - 27 June 2018 through 29 June 2018

ER -

Distributed Consensus of Euler-Lagrange Systems under Switching Directed Graphs

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