Passivity based distributed tracking control of networked Euler-Lagrange systems
This work addresses the problem of distributed coordination control for networked robotic systems, but the results are incremental as they extend existing passivity-based methods without providing quantitative performance comparisons.
The paper presents three distributed control laws for coordinating networked Euler-Lagrange systems, reformulating passivity-based control with artificial spring systems to achieve strictly passive network dynamics. Numerical simulations demonstrate the performance of the proposed methods.
In this paper we present three distributed control laws for the coordination of networked Euler-Lagrange (EL) systems. We first reformulate the passivity-based control design method in \cite{Arcak} by considering that each edge is associated with an \emph{artificial spring system} instead of the usual diffusive coupling among the communicating agents. With this configuration, the networked EL system possesses a "symmetric" feedback structure which together with the strict passivity of both agents' and edges' dynamics lead to a strictly passive network dynamics. Subsequently we present the networked version of two different passivity-based tracking controllers %local controllers that are particular cases of our method and the one in \cite{Arcak}. Numerical simulation is presented to show the performance of the proposed methods.