Affiliation:
1. School of Civil Engineering School of Mechanical and Electrical Engineering Guangzhou University Guangzhou China
2. School of Electrical Engineering and Intelligentization Dongguan University of Technology Dongguan China
3. School of Mechanical Engineering Yanshan University Qinhuangdao China
Abstract
AbstractThis paper investigates the coordinated behaviour of the multiple Euler–Lagrange systems under diverse interactions with time delays. Specially, in the case of undirected interconnection, the proportional plus damping control strategy is proposed and the sufficient conditions of bipartite consensus are derived via energy function based approach. Subsequently, a velocity‐free controller is further developed by introducing a novel second‐order auxiliary system to each agent. In the case of directed network, by fully investigating the property of the Laplacian matrix associated with the cooperative–competitive interactions, a bipartite consensus controller is devised and the input–output property analysis of the system transfer function in frequency domain is presented. Simulation results are provided to demonstrate the effectiveness of the presented algorithms.
Funder
National Natural Science Foundation of China
Publisher
Institution of Engineering and Technology (IET)
Subject
Electrical and Electronic Engineering,Control and Optimization,Computer Science Applications,Human-Computer Interaction,Control and Systems Engineering