Cluster Consensus in Multiple Lagrangian Systems Under Pinning Control | Zendy

Zhaoyan Wang | Zendy; Hengyu Li | Zendy

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Cluster Consensus in Multiple Lagrangian Systems Under Pinning Control

Author(s) -

Zhaoyan Wang,

Hengyu Li

Publication year - 2017

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2017.2700624

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper is mainly concerned with cluster tracking control for robotic networks whose dynamics are modeled by a Lagrangian equation with multiple leaders. An adaptive distributed pinning tracking control protocol is presented to realize cluster consensus, and the corresponding convergence analysis is given by utilizing the property of directed acyclic networks topology. Furthermore, by developing a recursive analysis method, a criterion that ensures the convergence for proposed algorithm is given. Subsequently, simulations conducted on the seven two-link revolute arms are presented to illustrate the effectiveness of the theoretical results.

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