Group regional consensus of networked lagrangian systems with input disturbances

Liu, J; Miao, Z; Ji, J; Zhou, J

Group regional consensus of networked lagrangian systems with input disturbances

Liu, J Miao, Z Ji, J

Zhou, J

Permalink

Publication Type:: Journal Article
Citation:: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2017, 139 (9)
Issue Date:: 2017-09-01

Closed Access

	Filename	Description	Size
	ds_139_09_094501.pdf	Published Version	769.32 kB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Liu, J	en_US
dc.contributor.author	Miao, Z	en_US
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463	en_US
dc.contributor.author	Zhou, J	en_US
dc.date.issued	2017-09-01	en_US
dc.identifier.citation	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2017, 139 (9)	en_US
dc.identifier.issn	0022-0434	en_US
dc.identifier.uri	http://hdl.handle.net/10453/125108
dc.description.abstract	Networked multirobot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multirobot systems (formulated by second-order Lagrangian dynamics) having input disturbances under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leaderless cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.	en_US
dc.relation.ispartof	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME	en_US
dc.relation.isbasedon	10.1115/1.4036029	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Group regional consensus of networked lagrangian systems with input disturbances	en_US
dc.type	Journal Article
utslib.citation.volume	9	en_US
utslib.citation.volume	139	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	09 Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.issue	9	en_US
pubs.publication-status	Published	en_US
pubs.volume	139	en_US

Abstract:

Networked multirobot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multirobot systems (formulated by second-order Lagrangian dynamics) having input disturbances under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leaderless cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/125108