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Robust consensus for networked mechanical systems with coupling time delay

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  • Control Theory
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Abstract

This paper studies the state consensus for a class of networked nonlinear mechanical systems with coupling time delay. In particular, robust consensus protocols for both deterministic and uncertain systems with time delay are investigated. For deterministic systems, we develop a P-like protocol which allows for variable coupling time delay. We show that it is sufficient to have only the relative position information together with a damping control term, whereas the relative velocity information is not needed for state consensus. Then, an adaptive robust control protocol is proposed for uncertain systems with unknown parameters in the system dynamics and arbitrary constant coupling time delays. By introducing the passivity-based framework, we demonstrate that state consensus is still reachable in this case. Finally, a numerical example is included to illustrate the obtained results.

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Authors and Affiliations

  1. School of automation, Xi’an High-Tech institute, Xi’an, 710025, China

    Haibo Min, Shicheng Wang & Jinsheng Zhang

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China

    Fuchun Sun

Authors
  1. Haibo Min
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  2. Shicheng Wang
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  3. Fuchun Sun
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  4. Jinsheng Zhang
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Corresponding author

Correspondence to Haibo Min.

Additional information

Recommended by Editorial Board member Young Soo Suh under the direction of Editor Jae Weon Choi.

This work was jointly supported by the National Science Fund for Distinguished Young Scholars (Grant No: 625304) and the National Natural Science Foundation of China (Grant No: 60621062, 60904083).

Haibo Min was born in 1982. From 2007 to 2011, He was studying in Tsinghua University, China, as a joint Ph.D. student and received his Ph.D. degree in 2011. His research interests include coordination control of multiagents, complex network, nonlinear control, and adaptive control.

Shicheng Wang received his B.S., M.S., and Ph.D. degrees in Xi’an High-Tech institute, China, in 1985, 1988, and 1998, respectively. He is currently a professor in Xi’an High-Tech Institute. His research interests include system modeling, guidance, navigation and control, and coordination control of spacecraft.

Fuchun Sun received his B.S. and M.S. degrees from Naval Aeronautical Engineering Academy, Yantai, China, in 1986 and 1989, respectively, and his Ph.D degree from the Department of Computer Science and Technology, Tsinghua University, Beijing, China, in 1998. He worked over four years for the Department of Automatic Control at Naval Aeronautical Engineering Academy. From 1998 to 2000 he was a Postdoctoral Fellow of the Department of Automation at Tsinghua University, Beijing, China. Now he is a professor in the Department of Computer Science and Technology, Tsinghua University, Beijing, China. His research interests include intelligent control, networked control system and management, neural networks, fuzzy systems, nonlinear systems and robotics. He has authored or coauthored two books and over 200 papers which have appeared in various journals and conference proceedings. Dr. Sun is the recipient of the excellent Doctoral Dissertation Prize of China in 2000 and the Choon-Gang Academic Award by Kerea in 2003, and was recognized as a Distinguished Young Scholar in 2006 by the Natural Science Foundation of China. He has been a member of the Technical Committee on Intelligent Control of the IEEE Control System Society since 2006. He serves as associated editors of IEEE Trans.on Fuzzy Systems and Mechatronics.

Jinsheng Zhang was born in 1980. He received his B.S., M.S., and Ph.D. degrees in Xi’an High-Tech institute, China, in 2002, 2005 and 2009, respectively. He is now a lecturer in Xi’an High-Tech institute. His research interest is navigation, guidance and control.

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Min, H., Wang, S., Sun, F. et al. Robust consensus for networked mechanical systems with coupling time delay. Int. J. Control Autom. Syst. 10, 227–237 (2012). https://doi.org/10.1007/s12555-012-0203-1

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  • DOI: https://doi.org/10.1007/s12555-012-0203-1

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