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Technical Brief

Group regional consensus of networked Lagrangian systems with input disturbances

[+] Author and Article Information
Jun Liu

Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University, Shanghai 200072, P. R. ChinaDepartment of Mathematics, Jining University, Qufu, Shandong Province 273155, P. R. China
sdwslj@163.com

Zhonghua Miao

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, P. R. China
zhhmiao@shu.edu.cn

Jinchen Ji

Faculty of Engineering and IT, University of Technology Sydney, PO Box 123, Broadway, NSW 2007, Australia
jin.ji@uts.edu.au

Jin Zhou

Shanghai Institute of Applied Mathematics and Mechanics, and Shanghai Key Laboratory of Mechanics in Energy Engineering, Shanghai University, Shanghai 200072, P. R. China
jinzhoushu@163.com

1Corresponding author.

ASME doi:10.1115/1.4036029 History: Received March 15, 2016; Revised January 18, 2017

Abstract

Networked multi-robot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multi-robot systems with input disturbances (formulated by second-order Lagrangian dynamics) under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leaderless cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.

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