scholarly journals Consensus Control of a Class of Lipschitz Nonlinear Systems With Input Delay

2015 ◽  
Vol 62 (11) ◽  
pp. 2730-2738 ◽  
Author(s):  
Chunyan Wang ◽  
Zongyu Zuo ◽  
Zongli Lin ◽  
Zhengtao Ding
Keyword(s):  
Nonlinear Systems ◽  
Input Delay ◽  
Consensus Control ◽  
Lipschitz Nonlinear Systems

scholarly journals Consensus Control for a Network of Multiple Elastic Joints Robots with Algebraic Riccati Equation (Are)

2019 ◽  
Vol 8 (3S2) ◽  
pp. 202-206
Keyword(s):  
Nonlinear Systems ◽  
Riccati Equation ◽  
Communication Networks ◽  
State Feedback ◽  
Algebraic Riccati Equation ◽  
Consensus Problem ◽  
Consensus Control ◽  
Controller Gain ◽  
Lipschitz Nonlinear Systems ◽  
Elastic Joints

This paper deals with the leader-follower consensus problem of Lipschitz nonlinear systems under fixed directed communication networks specifically for multiple Elastic Joints Robots. A State-feedback consensus controller is proposed for the system, based on state and output measurements of neighbouring agents, respectively. The controller gain is obtained with Algebraic Riccati Equation (ARE) protocol. An example is included to demonstrate the effectiveness of the state consensus controller. It can be shown that both controllers are stable and able to reach consensus for the system despite the influence of the nonlinear Lipschitz element from the robot.

Sign in / Sign up

Export Citation Format

Share Document