Synchronization of networked Lagrangian systems with input constraints

A. Abdessameud, A. Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations


This paper addresses the synchronization problem of systems modeled by Euler-Lagrange equations and subject to input saturations. First, a new control design strategy, based on virtual systems, is proposed. This approach allows to generate control inputs that are a priori bounded in the presence of communication time-delays, regardless of the information flow topology between systems in the network. Second, we remove the requirement of the generalized velocities, leading to a velocity-free synchronization scheme with a priori bounded inputs. The effectiveness of the proposed control schemes is demonstrated through simulation examples on a network of four robot manipulator arms.

Original languageEnglish (US)
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
StatePublished - Jan 1 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Abdessameud, A., & Tayebi, A. (2011). Synchronization of networked Lagrangian systems with input constraints. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 2382-2387). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat.