Robust Consensus of a Class of Perturbed Port-Hamiltonian Systems With Time Delays

• 成果类型: Article
• 署名作者: Romero, Jose Guadalupe; Donaire, Alejandro; Nuno, Emmanuel; Navarro-Alarcon, David
• 署名单位: Instituto Tecnologico Autonomo de Mexico; University of Newcastle; Universidad de Guadalajara; Hong Kong Polytechnic University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3593232
• 发表日期: 2025
• 关键词: EULER-LAGRANGE AGENTS; Passivity; COORDINATION; networks; Synchronization; tracking

摘要

In this article, we present a distributed control system design for the consensus of nonlinear multiagent systems subject to non-ideal communication channels and external disturbances. The agents are modeled as a class of perturbed port-Hamiltonian systems-a formalism to model complex physical and engineering systems-and the imperfection in the communication channels is represented by time-delays that are assumed to be bounded. We show that the proposed distributed controller ensures global asymptomatic convergence of the agents to a consensus equilibrium, despite external disturbances and time-delays. We also extend the results to Euler-Lagrange agents as a corollary of our main result. Simulation results, for a network of five, 2-degrees-of-freedom robotic manipulators show the performance of our proposed control design.