Distributed formation control of networked mechanical systems

Javanmardi, N.; Borja Rosales, L.P.; Yazdanpanah, M. J.; Scherpen, J.M.A.

doi:10.1016/j.ifacol.2022.07.275

Distributed formation control of networked mechanical systems

Title

Distributed formation control of networked mechanical systems

Author

Javanmardi, N. (University of Tehran)
Borja Rosales, L.P. (TU Delft Learning & Autonomous Control)
Yazdanpanah, M. J. (University of Tehran)
Scherpen, J.M.A. (TU Delft Support Delft Center for Systems and Control; University Medical Center Groningen)

Date

2022

Abstract

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.

Subject

Autonomous systems
Cooperative control
Large-scale systems
Networked control systems
Port-Hamiltonian systems
Scalability

To reference this document use:

http://resolver.tudelft.nl/uuid:6f670b77-dd71-4001-aa0e-0b616a6fbe08

DOI

https://doi.org/10.1016/j.ifacol.2022.07.275

ISSN

1474-6670

Source

IFAC-PapersOnLine, 55 (13), 294-299

Event

9th IFAC Conference on Networked Systems, NECSYS 2022, 2022-07-05 → 2022-07-07, Zurich, Switzerland