Regular Paper

International Journal of Control, Automation and Systems 2012; 10(2): 227-237

Published online April 17, 2012

https://doi.org/10.1007/s12555-012-0203-1

© The International Journal of Control, Automation, and Systems

Robust Consensus for Networked Mechanical Systems with Coupling Time Delay

Haibo Min, Shicheng Wang, Fuchun Sun, and Jinsheng Zhang

Xi’an High-Tech institute, China

Abstract

This paper studies the state consensus for a class of networked nonlinear mechanical systems with coupling time delay. In particular, robust consensus protocols for both deterministic and uncertain systems with time delay are investigated. For deterministic systems, we develop a P-like protocol which allows for variable coupling time delay. We show that it is sufficient to have only the relative position information together with a damping control term, whereas the relative velocity information is not needed for state consensus. Then, an adaptive robust control protocol is proposed for uncertain systems with unknown parameters in the system dynamics and arbitrary constant coupling time delays. By introducing the passivity-based framework, we demonstrate that state consensus is still reachable in this case. Finally, a numerical example is included to illustrate the obtained results.

Keywords Consensus, Euler-Lagrange systems, robust adaptive control, time delay.

Article

Regular Paper

International Journal of Control, Automation and Systems 2012; 10(2): 227-237

Published online April 1, 2012 https://doi.org/10.1007/s12555-012-0203-1

Copyright © The International Journal of Control, Automation, and Systems.

Robust Consensus for Networked Mechanical Systems with Coupling Time Delay

Haibo Min, Shicheng Wang, Fuchun Sun, and Jinsheng Zhang

Xi’an High-Tech institute, China

Abstract

This paper studies the state consensus for a class of networked nonlinear mechanical systems with coupling time delay. In particular, robust consensus protocols for both deterministic and uncertain systems with time delay are investigated. For deterministic systems, we develop a P-like protocol which allows for variable coupling time delay. We show that it is sufficient to have only the relative position information together with a damping control term, whereas the relative velocity information is not needed for state consensus. Then, an adaptive robust control protocol is proposed for uncertain systems with unknown parameters in the system dynamics and arbitrary constant coupling time delays. By introducing the passivity-based framework, we demonstrate that state consensus is still reachable in this case. Finally, a numerical example is included to illustrate the obtained results.

Keywords: Consensus, Euler-Lagrange systems, robust adaptive control, time delay.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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