Abstract
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.
Original language | English |
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Pages (from-to) | 294-299 |
Journal | IFAC-PapersOnline |
Volume | 55 |
Issue number | 13 |
DOIs | |
Publication status | Published - 2022 |
Event | 9th IFAC Conference on Networked Systems, NECSYS 2022 - Zurich, Switzerland Duration: 5 Jul 2022 → 7 Jul 2022 |
Keywords
- Autonomous systems
- Cooperative control
- Large-scale systems
- Networked control systems
- Port-Hamiltonian systems
- Scalability