Multi-pendulum synchronization using constrained agreement protocols

This paper considers the problem of coordinating multiple pendula attached to mobile bases. In particular, the pendula should move in such a way that their motion is synchronized, which calls for two problems to be solved simultaneously, namely a constrained optimal control problem for each pendulum, and a constrained agreement problem across the network of pendula. A novel way of manipulating the initial conditions in the consensus equation is presented that will solve the latter of these problems, and simulation results are presented that support the viability of the proposed approach.