A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous Control Torques | IEEE Conference Publication | IEEE Xplore

A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous Control Torques


Abstract:

In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the s...Show More

Abstract:

In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the signum function in the control torque design, there might exist chattering while implementing the distributed time-varying optimization algorithms for networked Lagrangian agents in the existing works. To this end, we design a distributed optimization algorithm that is capable of generating continuous control torques and achieving exact optimum tracking. A simulation is presented to validate the effectiveness of the proposed algorithm.
Date of Conference: 31 May 2023 - 02 June 2023
Date Added to IEEE Xplore: 03 July 2023
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Conference Location: San Diego, CA, USA

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