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Passivity-based output synchronization of networked Euler-Lagrange systems subject to nonholonomic constraints

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2 Author(s)
Han Yu ; Department of Electrical Engineering, University of Notre Dame, IN, 46556, USA ; Panos J. Antsaklis

In this paper, we study the output synchronization problem of networked Euler-Lagrange(EL) systems subject to nonholonomic constraints. An EL system subject to nonholonomic 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.

Published in:

Proceedings of the 2010 American Control Conference

Date of Conference:

June 30 2010-July 2 2010