Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/40369
Title: Coordination of multi-agent systems via energy-shaping: Networking improves robustness
Author: Nuno, E.
Ortega, R.
Jayawardhana, B.
Basanez, L.
Issue Date: 2013
Abstract: In this paper, the robust coordination of multi-agent systems via energy-shaping is studied. The agents are nonidentical, Euler-Lagrange systems with uncertain parameters which are regulated (with and without exchange of information between the agents) by the classical energy-based controller where the potential energy function is shaped such that, if the parameters are known, all agents converge globally to the same desired constant equilibrium. Under parameter uncertainty, the globally asymptotically stable (GAS) equilibrium point is shifted away from its desired value and this paper shows that adding information exchange between the agents to the decentralized control policy improves the steady-state performance. More precisely, it proves that if the undirected communication graph is connected, the equilibrium of the networked controller is always closer (in a suitable metric) to the desired one than that of the decentralized controller. The result holds for all interconnection gains if the potential energy functions are quadratic, else, it is true for sufficiently large gains. An additional advantage of networking is that the asymptotic stabilization objective can be achieved by using lower gains into the loop. Some experimental results (using two nonlinear manipulators) given support to the main results of the paper. " 2013 Elsevier Ltd. All rights reserved.",,,,,,"10.1016/j.automatica.2013.07.002",,,"http://hdl.handle.net/20.500.12104/40369","http://www.scopus.com/inward/record.url?eid=2-s2.0-84883152115&partnerID=40&md5=075983b193c86343649f7e1d8d4581db",,,,,,"10",,"Automatica",,"3065
3071",,"49",,"Scopus
WOS",,,,,,"Euler-Lagrange systems; Passivity-based control; PD-controllers; Synchronization",,,,,,"Coordination of multi-agent Euler-Lagrange systems via energy-shaping: Networking improves robustness",,"Article" "42149","123456789/35008",,"Nuño, E., Department of Computer Science, CUCEI, University of Guadalajara, Mexico; Ortega, R., Laboratoire des Signaux et Systèmes, SUPELEC, Gif-sur-Yvette, France; Jayawardhana, B., ITM, Faculty of Mathematics and Natural Sciences, University of Groningen, Netherlands; Basañez, L., Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain",,"Nuno, E.
Ortega, R.
Jayawardhana, B.
Basanez, L.",,"2012",,"In this paper the problem of robust coordination of multi-agent systems via energy-shaping is studied. The agents are nonidentical, Euler-Lagrange systems with uncertain parameters. The control objective is to drive all agents states to the same constant equilibrium-which is achieved shaping their potential energy function. It is assumed that, if the parameters are known, this task can be accomplished with a decentralized strategy. In the face of parameter uncertainty, the assigned equilibrium is shifted away from its desired value. It is shown that adding information exchange between the agents to this decentralized control policy improves the performance. More precisely, it is proven that if the communication graph is undirected and connected, the equilibrium of the networked controller is always closer (in a suitable metric) to the desired one. If the the potential energy functions are quadratic, the result holds for all interconnection gains, else, it is true for sufficiently large gains. The decentralized controller is the well-known energy-shaping proportional plus derivative controller, extensively used in applications. An additional advantage of networking is that the control objective is achieved injecting lower gains into the loop. " 2012 IFAC.
URI: http://hdl.handle.net/20.500.12104/40370
http://www.scopus.com/inward/record.url?eid=2-s2.0-84880989928&partnerID=40&md5=718c77d1dbb9a7148672448484c65e28
Appears in Collections:Producción científica UdeG

Files in This Item:
There are no files associated with this item.


Items in RIUdeG are protected by copyright, with all rights reserved, unless otherwise indicated.