TY - GEN
T1 - Distributed backstepping control for synchronization of networked class of underactuated systems
T2 - 2011 19th Mediterranean Conference on Control and Automation, MED 2011
AU - Ghommam, Jawhar
AU - Bouterra, Yassine
AU - Mnif, Faiçal
AU - Poisson, Gérard
PY - 2011
Y1 - 2011
N2 - This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to solve the problem in hand. First the underactuated system is transformed to a class of nonlinear system with chain structure using a suitable non-linear static feedback. The cooperative control is designed using a combination of the standard backstepping procedure and the passivity theory by which a synchronizing outputs are constructed recursively then shared within the group. The proposed design technique is based on strongly connected digraph communication structures. Numerical simulations are carried out to illustrate the effectiveness of the proposed approach.
AB - This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to solve the problem in hand. First the underactuated system is transformed to a class of nonlinear system with chain structure using a suitable non-linear static feedback. The cooperative control is designed using a combination of the standard backstepping procedure and the passivity theory by which a synchronizing outputs are constructed recursively then shared within the group. The proposed design technique is based on strongly connected digraph communication structures. Numerical simulations are carried out to illustrate the effectiveness of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=80052343262&partnerID=8YFLogxK
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U2 - 10.1109/MED.2011.5983043
DO - 10.1109/MED.2011.5983043
M3 - Conference contribution
AN - SCOPUS:80052343262
SN - 9781457701252
T3 - 2011 19th Mediterranean Conference on Control and Automation, MED 2011
SP - 7
EP - 12
BT - 2011 19th Mediterranean Conference on Control and Automation, MED 2011
Y2 - 20 June 2011 through 23 June 2011
ER -