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Bibliografie

Conference Paper (international conference)

Consensus synchronization of underactuated systems

Rehák Branislav, Lynnyk Volodymyr

: IFAC-PapersOnLine.Volume 54, Issue 19 - 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021, p. 275-280

: IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 21 /7./, (Berlin, DE, 20211011)

: GA19-07635S, GA ČR

: Nonlinear multi-agent system, Collocated feedback, Consensus problem, Exact feedback linearization

: 10.1016/j.ifacol.2021.11.090

(eng): Consensus synchronization problem was solved for a multi-agent system composed of identical underactuated system. The method is based on using a collocated feedback combined with a choice of the ctitious output so that the agents are minimum-phase with this output. Then, a synchronizing control is found based on the transformed variables. The results are illustrated on an example.

: BC

: 20205