Continuous-time distributed control algorithm for multi-robot systems dynamic average consensus

Abstract

This paper studies the dynamic average consensus problem of multi-robot systems with undirected communication graph topology, which is essentially a network Euler-Lagrange (EL) system. First, assume that EL agents' reference inputs in heterogeneous EL systems are different from each other and time-varying. Second, we propose a distributed control algorithm that allows EL robots to track the average value of time-varying reference inputs. Finally, one numerical example is presented to illustrate the effectiveness.