Synchronizing Control and Analysis of Distributed Passive Systems
分布式无源性系统的同步控制与分析

Based on Lyapunov methods, a systematic way is proposed to design and analyze the synchronizing control protocols for the distributed passive systems with a directed communication topology. The proposed method extends the previous work in the context of passive system control and is suitable for more general directed communication graph topology. The communication delays and the controller saturation are also considered. Under the proposed theoretic framework, we show that the synchronization problems of networked Lagrange systems can be solved. As an illustration of our results, we study the synchronizing control for the networked manipulator systems. The simulation results show the effectiveness of the proposed algorithm.