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Bin Zheng,Jin Zhou,Jinchen Ji,Zhonghua Miao 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7
This paper deals with the distributed consensus problem for networked flexible-joint manipulator systems which are formulated by underactuated Euler-Lagrange (EL) dynamics. Based on the energy-shaping scheme of passivity-based control (PBC) with interconnection and damping assignment, a novel decentralized controller is proposed to solve the leaderless and the leader-follower consensus problems. The main feature of the present work is the systematical integration of the energy of the systems composed of underactuated and actuated components and the energy of the controller as a total energy. Then the total energy is formulated as a suitable Lyapunov function to solve distributed consensus problems for the networked underactuated EL systems. The proposed consensus scheme without the need of velocity measurement possesses a relatively simple structure and good robustness. It is shown that interconnection pattern and damping assignment of the PBC are two key factors to affect the cooperative behavior of networked flexible-joint manipulator systems, which will be used to regulate or improve the cooperative performance of networked flexible-joint manipulator systems in practice. Finally, two numerical examples of networked six flexible-joint manipulator systems are presented to validate the correctness of the proposed algorithms.
Shan Cheng,Li Yu,Dongmei Zhang,Jinchen Ji 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This brief paper studies the stationary consensus of multiple Euler-Lagrange systems with nonlinear protocols. Two consensus protocols are given to guarantee that positions and velocities of multiple Euler-Lagrangesystems reach consensus. Proposed protocols need only the relative position measurements and the velocity measurementsof one Euler-Lagrange system. Finally, numerical simulations are given to illustrate the theoreticalresults.
Shan Cheng,Han Dong,Li Yu,Dongmei Zhang,Jinchen Ji 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
This brief paper studies the consensus problem of second-order multi-agent systems when the agents’ velocitymeasurements are unavailable. Firstly, two simple consensus protocols which do not need velocity measurementsof the agents are derived to guarantee that the multi-agent systems achieve consensus in directed networks. Secondly, a key constant which is determined by the complex eigenvalue of the nonsymmetric Laplacian matrix andan explicit expression of the consensus state are respectively developed based on matrix theory. The obtained resultsshow that all the agents can reach consensus if the feedback parameter is bigger than the key constant. Thirdly,the theoretical analysis shows that the followers can track the position and velocity of the leader provided that theleader has a directed path to all other followers and the feedback parameter is bigger enough. Finally, numericalsimulations are given to illustrate the effectiveness of the proposed protocols.