Practical Bipartite Consensus for Networked Lagrangian Systems in Cooperation-Competition Networks

This paper gains an insight into the practical bipartite consensus problem of networked Lagrangian systems (NLSs) in the context of dynamics. The distributed leaderless and leader-following practical bipartite consensus control laws are proposed in cooperation-competition networks with uncertain par...

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Bibliographic Details
Published in:	Journal of intelligent & robotic systems 2021-10, Vol.103 (2), Article 34
Main Authors:	Zhang, Tiehui, Li, Hengyu, Liu, Jun, Pu, Huayan, Xie, Shaorong, Luo, Jun
Format:	Article
Language:	eng
Subjects:	Analysis Artificial Intelligence Competition Control Cooperation Electrical Engineering Engineering Laws, regulations and rules Matrices (mathematics) Mechanical Engineering Mechatronics Network topologies Numerical analysis Parameter uncertainty Regular Paper Robotics Social networks
Online Access:	Get full text
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Summary:	This paper gains an insight into the practical bipartite consensus problem of networked Lagrangian systems (NLSs) in the context of dynamics. The distributed leaderless and leader-following practical bipartite consensus control laws are proposed in cooperation-competition networks with uncertain parameters, effectively extending the theoretical framework in cooperation networks for NLSs. In the leaderless case, the symmetric regions are newly established to facilitate the final convergence analysis. By employing the structurally balanced networked topologies, a novel symmetric positive definite matrix is exploited to derive the gain selection criteria in the leader-following case. Finally, numerical simulations of a network of revolute joint manipulators are illustrated to verify the theoretical results under positive-negative and all-negative topologies.
ISSN:	0921-0296 1573-0409