Fully Distributed Consensus of Multiple Euler–Lagrange Systems Under Switching Directed Graphs Using Only Position Measurements

• 成果类型: Article
• 署名作者: Meng, Xiangzheng; Mei, Jie; Miao, Zibo; Wu, Aiguo; Ma, Guangfu
• 署名单位: Harbin Institute of Technology; Harbin Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3332009
• 发表日期: 2024
• 页码: 1781-1788
• 关键词: Directed graphs; switches; Position measurement; Multi-agent systems; Manipulator dynamics; Laplace equations; Heuristic algorithms; Adaptive control; consensus; Euler-Lagrange system; multiagent systems; switching directed graphs

摘要

In this note, the distributed leaderless consensus problem of multiple Euler-Lagrange systems under switching directed graphs using only position measurements is investigated. We adopt a model reference adaptive consensus strategy to assign each agent a reference to track, which transforms the consensus problem into a trajectory tracking problem. Due to the absence of velocity information, a velocity filter and a third-order linear reference model are designed for each agent. The proposed consensus algorithm only requires the position information and only the relative position information is interchanged among the neighboring agents. It is shown that the agents can achieve position consensus under a uniformly connected switching directed graph in the absence of global gains, in which sense the proposed algorithm is fully distributed. The numerical simulations are performed to show the effectiveness of the theoretical results.