Distributed backstepping control for synchronization of networked class of underactuated systems: A passivity approach

Jawhar Ghommam, Yassine Bouterra, Faiçal Mnif, Gérard Poisson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages7-12
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece
Duration: Jun 20 2011Jun 23 2011

Other

Other2011 19th Mediterranean Conference on Control and Automation, MED 2011
CountryGreece
CityCorfu
Period6/20/116/23/11

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Ghommam, J., Bouterra, Y., Mnif, F., & Poisson, G. (2011). Distributed backstepping control for synchronization of networked class of underactuated systems: A passivity approach. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (pp. 7-12). [5983043] https://doi.org/10.1109/MED.2011.5983043