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arXiv · 2203.09484

Distributed formation control of networked mechanical systems

N. Javanmardi·P. Borja·M. J. Yazdanpanah·J. M. A. Scherpen
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Abstract

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

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N. Javanmardi, P. Borja, M. J. Yazdanpanah, J. M. A. Scherpen. 2022-03-17. Distributed formation control of networked mechanical systems. https://arxiv.org/abs/2203.09484

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