Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Targeted agreement of multiple Lagrangian systems*
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
Show others and affiliations
2017 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 84, p. 109-116Article in journal (Refereed) Published
Abstract [en]

In this paper, we study the targeted agreement problem for a group of Lagrangian systems. Each system observes a convex set as its local target and the objective of the group is to reach a generalized coordinate agreement towards these target sets. Typically, the generalized coordinate represents position or angle. We first consider the case when the communication graphs are fixed. A control law is proposed based on each system's own target sensing and information exchange with neighbors. With necessary connectivity, the generalized coordinates of multiple Lagrangian systems are shown to achieve agreement in the intersection of all the local target sets while generalized coordinate derivatives are driven to zero. We also discuss the case when the intersection of the local target sets is empty. Exact targeted agreement cannot be achieved in this case. Instead, we show that approximate targeted agreement can be guaranteed if the control gains are properly chosen. In addition, when communication graphs are allowed to be switching, we propose a model-dependent control algorithm and show that global targeted agreement is achieved when joint connectivity is guaranteed and the intersection of local target sets is nonempty. Simulations are given to validate the theoretical results. 

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2017. Vol. 84, p. 109-116
Keywords [en]
Lagrangian systems, Switching topologies, Targeted agreement
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-215805DOI: 10.1016/j.automatica.2017.07.010ISI: 000411546300015Scopus ID: 2-s2.0-85027875822OAI: oai:DiVA.org:kth-215805DiVA, id: diva2:1150230
Note

QC 20171018

Available from: 2017-10-18 Created: 2017-10-18 Last updated: 2017-10-18Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records BETA

Dimarogonas, Dimos V.Johansson, Karl H.

Search in DiVA

By author/editor
Dimarogonas, Dimos V.Johansson, Karl H.
By organisation
ACCESS Linnaeus Centre
In the same journal
Automatica
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 4 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf