An extended proportional-integral control algorithm for distributed average tracking and its applications in Euler-Lagrange systems

Under an extended proportional-integral (PI) control scheme, distributed average tracking (DAT) control algorithms are derived for networked Euler-Lagrange systems for two different kinds of reference signals: reference signals with steady states and reference signals with bounded derivatives.

[1]  Antonio Loría,et al.  Growth rate conditions for uniform asymptotic stability of cascaded time-varying systems , 2001, Autom..

[2]  F. Sun,et al.  Distributed adaptive consensus algorithm for networked Euler-Lagrange systems , 2011 .

[3]  Peng Yang,et al.  Stability and Convergence Properties of Dynamic Average Consensus Estimators , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[4]  Soon-Jo Chung,et al.  Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems , 2007, IEEE Transactions on Robotics.

[5]  Randy A. Freeman,et al.  Multi-Agent Coordination by Decentralized Estimation and Control , 2008, IEEE Transactions on Automatic Control.

[6]  Chien Chern Cheah,et al.  Region-based shape control for a swarm of robots , 2009, Autom..

[7]  Randy A. Freeman,et al.  Robust dynamic average consensus of time-varying inputs , 2010, 49th IEEE Conference on Decision and Control (CDC).

[8]  Mark W. Spong,et al.  Semiautonomous control of multiple networked Lagrangian systems , 2009 .

[9]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[10]  Guangfu Ma,et al.  Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems , 2011, IEEE Transactions on Automatic Control.

[11]  Guanrong Chen,et al.  Tracking the average of time-varying nonsmooth signals for double-integrator agents with a fixed topology , 2013, 2013 American Control Conference.

[12]  Richard M. Murray,et al.  DYNAMIC CONSENSUS FOR MOBILE NETWORKS , 2005 .

[13]  Yen-Chen Liu,et al.  Synchronization of networked robotic systems on strongly connected graphs , 2010, 49th IEEE Conference on Decision and Control (CDC).

[14]  Mark H. Overmars,et al.  Coordinated path planning for multiple robots , 1998, Robotics Auton. Syst..

[15]  Wei Ren.  Collective Motion From Consensus With Cartesian Coordinate Coupling , 2009, IEEE Transactions on Automatic Control.

[16]  Mohammad Bagher Menhaj,et al.  Dynamic average consensus via nonlinear protocols , 2012, Autom..

[17]  Chien Chern Cheah,et al.  Region following formation control for multi-robot systems , 2008, 2008 IEEE International Conference on Robotics and Automation.

[18]  Romeo Ortega,et al.  Synchronization of Networks of Nonidentical Euler-Lagrange Systems With Uncertain Parameters and Communication Delays , 2011, IEEE Transactions on Automatic Control.

[19]  Richard M. Murray,et al.  DISTRIBUTED SENSOR FUSION USING DYNAMIC CONSENSUS , 2005 .

[20]  K. Lynch,et al.  DIstributed Kalman Filtering Using The Internal Model Average Consensus Estimator , 2011, Proceedings of the 2011 American Control Conference.

[21]  Yongcan Cao,et al.  Distributed Average Tracking of Multiple Time-Varying Reference Signals With Bounded Derivatives , 2012, IEEE Transactions on Automatic Control.