Abstract
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.
This research was partially supported by the Office of Naval Research under Grant N00014-02-1-0011, N00014-05-1-0186, and by the National Science Foundation under Grants ECS-0122412 and INT-0128656. The first author also acknowledges the support of the Faculty Startup Grant at the University of Maryland.
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Chopra, N., Spong, M.W. (2008). Output Synchronization of Nonlinear Systems with Relative Degree One. In: Blondel, V.D., Boyd, S.P., Kimura, H. (eds) Recent Advances in Learning and Control. Lecture Notes in Control and Information Sciences, vol 371. Springer, London. https://doi.org/10.1007/978-1-84800-155-8_4
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DOI: https://doi.org/10.1007/978-1-84800-155-8_4
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