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Consensus of multiple Euler-Lagrange systems using one Euler-Lagrange System’s velocity measurements

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Abstract

This brief paper studies the stationary consensus of multiple Euler-Lagrange systems with nonlinear protocols. Two consensus protocols are given to guarantee that positions and velocities of multiple Euler-Lagrange systems reach consensus. Proposed protocols need only the relative position measurements and the velocity measurements of one Euler-Lagrange system. Finally, numerical simulations are given to illustrate the theoretical results.

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Authors and Affiliations

  1. College of Information Engineering, Zhejiang University of Technology, Hangzhou, 310023, China

    Shan Cheng & Li Yu

  2. College of Science, Zhejiang University of Technology, Hangzhou, 310023, China

    Shan Cheng & Dongmei Zhang

  3. Faculty of Engineering and IT, University of Technology, Sydney PO Box 123, Broadway, NSW, 2007, Australia

    Jinchen Ji

Authors
  1. Shan Cheng
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  2. Li Yu
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  3. Dongmei Zhang
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  4. Jinchen Ji
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Corresponding author

Correspondence to Shan Cheng.

Additional information

Recommended by Associate Editor Seul Jung under the direction of Editor PooGyeon Park. The authors would like to thank the anonymous referees and the Editor for their valuable comments and suggestions. This work was supported by the National Science Foundation of China (Grant No. 61273117), the Postdoctoral Science Foundation of Zhejiang Province(Grant No. Z42103001) and the Natural Science Foundation of Zhejiang Province (Grant No. LY14F030010).

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Cheng, S., Yu, L., Zhang, D. et al. Consensus of multiple Euler-Lagrange systems using one Euler-Lagrange System’s velocity measurements. Int. J. Control Autom. Syst. 15, 450–456 (2017). https://doi.org/10.1007/s12555-014-0320-0

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  • DOI: https://doi.org/10.1007/s12555-014-0320-0

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