Distributed consensus tracking control for multiple simple-pendulum network systems

This paper investigates the consensus tracking problem for networked control systems consisting of multiple simple-pendulums driven by corresponding DC motors. A distributed adaptive consensus control algorithm is developed to guarantee the state tracking for each simple-pendulum with nonlinear dynamics. The dynamic model of networked simple-pendulums driven by DC motors is obtained first, and the mathematical description of consensus tracking control problem for multi-agent system is presented. Then, fully distributed consensus tracking protocol without any global information is designed by using adaptive control technology to adjust the coupling weights between neighboring pendulums. Finally, simulation results demonstrate the effectiveness of the proposed consensus tracking control algorithm.