Distributed formation control of networked mechanical systems
N. Javanmardi (University of Tehran)
P. Borja Rosales (TU Delft - Learning & Autonomous Control)
M. J. Yazdanpanah (University of Tehran)
Jacquelien Scherpen (TU Delft - Support Delft Center for Systems and Control, University Medical Center Groningen)
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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.
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