Abstract
This chapter presents a general framework of passivity-based cooperative control strategy. Here, we address output synchronization, i.e., pairwise convergence of the outputs for multiple agents having passive dynamics interconnected by unidirectional information exchange structures. The present approach proves synchronization by using the Lyapunov function defined by the summation of the individual storage functions. Then, we show robustness of the presented passivity approach against time delays.
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Notes
- 1.
A function \(S\) is said to be radially unbounded if \(S(x)\rightarrow \infty \) as \(\Vert x\Vert \rightarrow \infty \).
- 2.
Diffeomorphism is a differentiable bijective map whose inverse map is also differentiable.
- 3.
A vector field \(v\) on an open subset \({\mathcal U}\) of \({\mathbb R}^n\) is said to be complete if, for every \(u \in {\mathcal U}\), there exists an integral curve starting at \(u\) that exists for all time.
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Two vector fields \(v_1\) and \(v_2\) on an open subset \({\mathcal U}\) of \({\mathbb R}^n\) are said to commute if, for every \(u \in {\mathcal U}\), \(\frac{\partial v_2}{\partial x}v_1(u) = \frac{\partial v_1}{\partial x}v_2(u)\) holds.
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© 2015 Springer International Publishing Switzerland
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Hatanaka, T., Chopra, N., Fujita, M., Spong, M.W. (2015). Output Synchronization for Network of Passive Systems. In: Passivity-Based Control and Estimation in Networked Robotics. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15171-7_8
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DOI: https://doi.org/10.1007/978-3-319-15171-7_8
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-15170-0
Online ISBN: 978-3-319-15171-7
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