Output synchronization of nonlinear systems with relative degree one

被引：84

作者：

Department of Mechanical Engineering, Institute for Systems Research, University of Maryland, College Park, MD 20742, United States ^{[1
]}

不详 ^{[2
]}

机构：

[1] Department of Mechanical Engineering, Institute for Systems Research, University of Maryland, College Park

[2] Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801

来源：

Lect. Notes Control Inf. Sci. | 2008年 / 51-64期

基金：

美国国家科学基金会;

关键词：

Hybrid Systems; Input-to-State-Stability; Nonlinear Systems; Normal Form; Output Synchronization; Passivity; Time Delay;

D O I：

10.1007/978-1-84800-155-8_4

中图分类号：

学科分类号：

摘要：

In this paper we extend our earlier results on output synchronization of nonlinear passive systems to the case of nonlinear systems with relative degree one. It is well known [5] that weakly minimum phase systems with relative degree one are feedback equivalent to a passive system with a positive definite storage function. We exploit this feedback equivalence to develop control laws for output synchronization of such systems, exchanging outputs on balanced graphs, and in the presence of communication delays, and switching interconnection topologies. We further show that the balanced graph assumption can be removed provided the internal dynamics in the normal form are Input-to-State-Stable (ISS) for each agent. Simulation results are presented to verify the obtained results. © 2008 Springer London.

引用

页码：51 / 64

页数：13

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