Work

A Simple P+d Controller for Consensus of Euler-Lagrange Systems Over Directed Graphs

Year: 2025

Type: article

Abstract: The state of the art in consensus control for multi-agent Euler-Lagrange (EL) systems relies on one or several of the following assumptions: the graph is undirected or directed and strongly connected, the controller is centralized, knowledge of the inertia and Coriolis matrices is needed, the systems’ trajectories are bounded. In this letter we show that a simple Proportional Derivative controller with gravity compensation, which does not rely on any of the previous hypotheses, achieves consensus for EL systems over connected acyclic directed graphs. The proof follows a cascaded-systems argument. Also, we provide some numerical simulations to illustrate the performance of the controller.

Source: IEEE Control Systems Letters

DOI: 10.1109/lcsys.2025.3575683

Authors: Ioannis Sarras, Antonio Loría, Elena Panteley, Emmanuel Nuño

Institutions: Office National d'Études et de Recherches Aérospatiales, Département Traitement de l’Information et Systèmes, Centre National de la Recherche Scientifique, Laboratoire des signaux et systèmes, Universidad de Guadalajara

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4410949428

FWCI:

Cites: 25

Cited by:

Related to: 10