Title :
Synchronization of networked passive systems with directed communication topologies
Author :
Chen, Gang ; Yu, Ming
Author_Institution :
Coll. of Autom., Chongqing Univ., Chongqing, China
Abstract :
The coordination and synchronization problems of networked passive systems with directed communication topologies are discussed in this paper. Compared with previous work in the context of passivity-based control, the development in this paper is for more general directed communication graphs. It is shown that when the communication topologies are strongly connected, the output synchronization can be achieved for the networked passive systems. The realistic communication delays and actuator saturation are also considered. The achieved results are used to synchronize the networked Lagrangian systems. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms.
Keywords :
actuators; delays; distributed control; graph theory; synchronisation; actuator saturation; communication delays; directed communication topologies; networked Lagrangian system; networked passive system; output synchronization; passivity based control; Artificial neural networks; Lyapunov methods; Manipulators; Network topology; Protocols; Synchronization; Topology; Distributed control; Networked passive systems; Synchronization;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968870