Consensus of Euler-Lagrange Agents With Internal Model Disturbance Rejection and Interconnection Delays

• 成果类型: Article
• 署名作者: Nuno, Emmanuel; Sarras, Ioannis; Yin, Hao; Jayawardhana, Bayu
• 署名单位: Universidad de Guadalajara; Universite Paris Saclay; National Office for Aerospace Studies & Research (ONERA); University of Groningen
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3347394
• 发表日期: 2024
• 页码: 4066-4071
• 关键词: CONSENSUS; disturbance rejection; Euler-Lagrange (EL) systems; Internal model; time-delays

摘要

We propose a distributed control method to achieve consensus of heterogeneous Euler-Lagrange (EL) systems with bounded time-varying communication delays while simultaneously rejecting periodic external disturbances. Our proposed controller has a simple-to-implement structure of proportional-integral-derivative scheme that employs the internal model approach to reject the disturbance and that it is model-independent (when cancelling the gravity effects). We consider that the network of EL-systems is interconnected through an undirected weighted graph that is static and we assume that the information exchange between any connected nodes is subjected to bounded variable time-delays. In this scenario we provide a sufficient condition for the proportional and the derivative gains of the controller to ensure that the EL-systems globally and asymptotically converge to a consensus position. The efficacy of the proposed method is shown in a numerical simulation using a network of ten robotic manipulators.