Pinning Synchronization in Networked Lagrangian Systems

Abstract

This paper investigates the synchronization problem of networked Lagrangian systems based on pinning control framework on complex networks. We propose a pinning algorithm to guarantee the controlled synchronization of networked identical Lagrangian systems by applying local linear feedback injections to a small fraction of nodes. We also present some simple yet generic criteria on pinning synchronization for such an algorithm over undirected connected graphs, where all the agents are regulated to follow a synchronization state. Furthermore, the pinning controllability in networked Lagrangian systems is also discussed. Compared with some existing works on networked Lagrangian systems, the distinctive advantages of the proposed pinning algorithm include: (i) independence on the knowledge of system models; (ii) explicit consideration of agent's intrinsic complex dynamics; and (iii) simplicity of implement procedure in practice. Subsequently, the results are illustrated by a typical Lagrangian network composing of eight two‐link revolute manipulators. Numerical simulations with different kinds of pinning schemes are finally given to demonstrate the effectiveness of the proposed control methodology.

Distributed region reaching consensus control for uncertain networked multi‐robot systems

“…(1) The proposed algorithm for region reaching consensus control is fully distributed compared with some existing works [20][21][22][23]. In addition, the region reaching consensus protocols in terms of the potential region energy is an important generalization of pinning-like set point tracking scheme based on the typical proportion-integrationdifferentiation(PID) control strategy [24,25], and so it is very convenient to practical applications. (2) Sufficient conditions for the realization of region reaching consensus of networked robotic systems as well as control strategies are obtained.…”

Variance‐constrained H∞ synchronization control of discrete time‐delayed complex dynamical networks: An intermittent pinning approach

“…If only a few nodes are controlled and the synchronization can be still realized, the cost will be extremely reduced. Hence, pinning control, an excellent strategy, is proposed to solve this problem, in which the controllers are just applied to a small portion of network nodes [12‐14]. The pinning control strategy has been widely discussed in Tang et al [15] for synchronization control of nonlinear dynamical networks with multiple disturbances, and in Huang et al [16], the pinning feedback controller has been designed to achieve the desired synchronization behavior of T‐S fuzzy complex networks with discrete‐time couplings.…”

Consensus Control of Fractional‐Order Systems Based on Delayed State Fractional Order Derivative

“…Recently, the distributed coordination of multi-agent systems has been received significant attention from the control communities. This is partly due to its wide applications in unmanned areal vehicles [1], flocking/swarming [2,3], consensus [4][5][6][7][8][9][10] formation [11,12], distributed sensor networks [13,14], synchronization of complex networks [15][16][17][18], distributed computation [19] and many other areas. A special case of coordination is known as the consensus control and has been studied from different perspectives.…”