Consensus synchronization of underactuated systems

0546831 - ÚTIA 2022 RIV NL eng C - Konferenční příspěvek (zahraniční konf.)
Rehák, Branislav - Lynnyk, Volodymyr
Consensus synchronization of underactuated systems.
IFAC-PapersOnLine.Volume 54, Issue 19 - 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021. Amsterdam: Elsevier, 2021, s. 275-280. ISSN 2405-8963.
[IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 21 /7./. Berlin (DE), 11.10.2021-13.10.2021]
Grant CEP: GA ČR(CZ) GA19-07635S
Institucionální podpora: RVO:67985556
Klíčová slova: Nonlinear multi-agent system * Collocated feedback * Consensus problem * Exact feedback linearization
Obor OECD: Automation and control systems

Consensus synchronization problem was solved for a multi-agent system composed of identical underactuated system. The method is based on using a collocated feedback combined with a choice of the ctitious output so that the agents are minimum-phase with this output. Then, a synchronizing control is found based on the transformed variables. The results are illustrated on an example.
Trvalý link: http://hdl.handle.net/11104/0323222