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Phase synchronization control of complex networks of Lagrangian systems on adaptive digraphs

Chung, Soon-Jo and Bandyopadhyay, Saptarshi and Chang, Insu and Hadaegh, Fred Y. (2013) Phase synchronization control of complex networks of Lagrangian systems on adaptive digraphs. Automatica, 49 (5). pp. 1148-1161. ISSN 0005-1098.

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This paper presents a formation control and synchronization method that utilizes adaptive network topologies for a class of complex dynamical networks comprised of a large number of highly-nonlinear Euler–Lagrange (EL) systems. A time-varying and switching network topology, constructed by the adaptive graph Laplacian matrix, relaxes the standard requirement of consensus stability, even permitting exponential synchronization on an unbalanced digraph or a weakly connected digraph that can sporadically lose connectivity. The time-varying graph Laplacian matrix is adapted by an adaptive control scheme based on relative positions and errors of synchronization and tracking. The adaptive graph Laplacian is integrated with a phase synchronization controller that synchronizes the relative motions of EL systems moving in elliptical orbits, thereby yielding a smaller synchronization error than an uncoupled tracking control law in the presence of bounded disturbances and modeling errors. An example of reconfiguring hundreds of spacecraft in Low Earth Orbit shows the effectiveness of the proposed phase synchronization controller for a large number of complex EL systems moving in periodic elliptical orbits.

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Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2013 Elsevier Ltd. Received 25 September 2011. Received in revised form 4 September 2012. Accepted 28 November 2012. Available online 14 March 2013. The research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. © 2013 California Institute of Technology. Government sponsorship is acknowledged. This paper greatly benefited from stimulating discussions with J.-J.E. Slotine and W. Lohmiller. Additional thanks are due to L. Blackmore, B. Acikmese, D. Morgan, A. Paranjape, and J. Yu.
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Subject Keywords: Co-operative control; Complex network; Synchronization; Nonlinear control; Adaptive control; Robotics; Space vehicles
Issue or Number:5
Record Number:CaltechAUTHORS:20161130-141734262
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Official Citation:Soon-Jo Chung, Saptarshi Bandyopadhyay, Insu Chang, Fred Y. Hadaegh, Phase synchronization control of complex networks of Lagrangian systems on adaptive digraphs, Automatica, Volume 49, Issue 5, May 2013, Pages 1148-1161, ISSN 0005-1098, (
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72459
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 22:29
Last Modified:03 Oct 2019 16:18

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