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Targeted agreement of multiple Lagrangian systems

Meng, Ziyang; Yang, Tao; Shi, Guodong; Dimarogonas, Dimos V; Hong, Yiguang; Johansson, Karl Henrik


In this paper, we study the targeted agreement problem for a group of Lagrangian systems. Each system observes a convex set as its local target and the objective of the group is to reach a generalized coordinate agreement towards these target sets. Typically, the generalized coordinate represents position or angle. We first consider the case when the communication graphs are fixed. A control law is proposed based on each system’s own target sensing and information exchange with neighbors. With...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2017.07.010


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