Synchronization of networked Lagrangian systems with input constraints ⋆
نویسندگان
چکیده
This paper addresses the synchronization problem of systems modeled by EulerLagrange equations and subject to input saturations. First, a new control design strategy, based on virtual systems, is proposed. This approach allows to generate control inputs that are a priori bounded in the presence of communication time-delays, regardless of the information flow topology between systems in the network. Second, we remove the requirement of the generalized velocities, leading to a velocity-free synchronization scheme with a priori bounded inputs. The effectiveness of the proposed control schemes is demonstrated through simulation examples on a network of four robot manipulator arms.
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