Open AccessDevelopment of a distributed consensus algorithm for multiple Euler–Lagrange systems
Author(s) -
Liu Lei,
Shan Jinjun
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0309
Subject(s) - robustness (evolution) , control theory (sociology) , consensus algorithm , state (computer science) , computer science , consensus , workspace , algorithm , controller (irrigation) , passivity , mathematics , multi agent system , control (management) , engineering , robot , artificial intelligence , biochemistry , chemistry , electrical engineering , biology , agronomy , gene
In this study, a consensus algorithm for multiple non‐linear Euler–Lagrange systems is presented. This controller guarantees that all agents can reach a common state in the workspace. External disturbances acting on the system are included in the closed‐loop stability analysis, and the input‐to‐state properties of the proposed controller are investigated based on the concept of input‐to‐state consensus. Moreover, the influence of structural uncertainty is further discussed on the basis of passivity theory. The robustness of the proposed consensus algorithm is then demonstrated in the presence of both external disturbances and structural uncertainty. Experiments are conducted to validate the effectiveness of the proposed consensus algorithm.