Passivity based distributed tracking control of networked Euler-Lagrange systems

TL;DR

This paper introduces three distributed control laws for networked Euler-Lagrange systems, utilizing a passivity-based approach with artificial spring systems to achieve coordinated tracking.

Contribution

It reformulates passivity-based control using artificial springs, creating a symmetric feedback structure that ensures passivity in networked Euler-Lagrange systems.

Findings

Proposes three new distributed control laws.

Demonstrates effectiveness through numerical simulations.

Ensures strict passivity of the network dynamics.

Abstract

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.