@inproceedings{d2daf7f6dda349a880d6f4154e7f9bcc,
title = "Model-independent rendezvous of Euler-Lagrange agents on directed networks",
abstract = "This paper proposes a distributed, modelindependent algorithm to achieve rendezvous to a stationary leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics. We show that if the directed graph contains a directed spanning tree, with the leader as the root node and with no incoming edges, then a model-independent algorithm semi-globally achieves the rendezvous objective exponentially fast. By model-independent we mean that each agent can execute the algorithm with no knowledge of the parameters of the self-dynamics of any agent in the network. For stability, a pair of control gain terms for each agent are required to meet several inequalities and so design of the algorithm requires some limited knowledge of global information. Numerical simulations are provided to illustrate the algorithm's effectiveness.",
keywords = "directed graph, distributed network, euler-lagrange agent, model-independent, rendezvous, semi-global",
author = "Mengbin Ye and Changbin Yu and Anderson, {Brian D.O.}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7402761",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3499--3505",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
}