On contraction analysis for non-linear systems
Automatica (Journal of IFAC)
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Stable concurrent synchronization in dynamic system networks
Neural Networks
Passivity-based designs for synchronized path-following
Automatica (Journal of IFAC)
Brief paper: On pinning synchronization of complex dynamical networks
Automatica (Journal of IFAC)
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Automatica (Journal of IFAC)
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Tracking control for multi-agent consensus with an active leader and variable topology
Automatica (Journal of IFAC)
Input-to-state stability of networked control systems
Automatica (Journal of IFAC)
On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
This paper presents a formation control and synchronization method that utilizes adaptive network topologies for a class of complex dynamical networks comprised of a large number of highly-nonlinear Euler-Lagrange (EL) systems. A time-varying and switching network topology, constructed by the adaptive graph Laplacian matrix, relaxes the standard requirement of consensus stability, even permitting exponential synchronization on an unbalanced digraph or a weakly connected digraph that can sporadically lose connectivity. The time-varying graph Laplacian matrix is adapted by an adaptive control scheme based on relative positions and errors of synchronization and tracking. The adaptive graph Laplacian is integrated with a phase synchronization controller that synchronizes the relative motions of EL systems moving in elliptical orbits, thereby yielding a smaller synchronization error than an uncoupled tracking control law in the presence of bounded disturbances and modeling errors. An example of reconfiguring hundreds of spacecraft in Low Earth Orbit shows the effectiveness of the proposed phase synchronization controller for a large number of complex EL systems moving in periodic elliptical orbits.