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Passivity-Based Output Synchronization of Networked Euler-Lagrange Systems Subject To Nonholonomic Constraints
 

Summary: Passivity-Based Output Synchronization of Networked Euler-Lagrange
Systems Subject To Nonholonomic Constraints
Han Yu and Panos J. Antsaklis
Abstract-- In this paper, we study the output synchronization
problem of networked Euler-Lagrange(EL) systems subject to
nonholonomic constraints. An EL system subject to nonholo-
nomic constraints can be input-output linearized if a proper
decoupling matrix can be found, and the linearized form is
equivalent to a double integrator. Although a double integrator
is not a passive system, with proper design of the control law
and some coordinate transformation, we are able to obtain a
new state-space representation of the EL system which is a
linear passive system. The underlying assumption is that the
communication graph is bidirectional and strongly connected.
To deal with time-varying communication delays among the
interconnected agents, we embed the scattering transformation
into our proposed setup and show that output synchronization
can be achieved in this case as well.
I. Introduction
Recent advances in computing, communication, sensing

  

Source: Antsaklis, Panos - Department of Electrical Engineering, University of Notre Dame

 

Collections: Engineering