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In this paper we extend our earlier results on output synchronization of nonlinear passive systems to the case of nonlinear systems with relative degree one. It is well known [5] that weakly minimum phase systems with relative degree one are feedback equivalent to a passive system with a positive definite storage function. We exploit this feedback equivalence to develop control laws for output synchronization of such systems, exchanging outputs on balanced graphs, and in the presence of communication delays, and switching interconnection topologies. We further show that the balanced graph assumption can be removed provided the internal dynamics in the normal form are Input-to-State-Stable (ISS) for each agent. Simulation results are presented to verify the obtained results. [ABSTRACT FROM AUTHOR]

In this paper we study the problem of synchronization of networked Lagrangian systems. This problem arises in applications such as the control of multiple robots, formation control of UAV's, mobile sensor networks, Kuramoto oscillators, and teleoperation. We assume that the agents exchange position and velocity information over a network described by an interconnection graph. We consider only linear interconnections on balanced, directed graphs but similar results can also be derived for nonlinear interconnections on undirected graphs. Our results exploit the well-known passivity property of Lagrangian mechanical systems. We demonstrate synchronization on both fixed and switching graphs. In the case of fixed graphs, the passivity property allows us, in addition, to treat the practically important problem of time delay in communication. [ABSTRACT FROM AUTHOR]

In this chapter we develop schemes for synchronization of bilateral teleoperators. It is well known that a feedback interconnection of two passive systems is passive. We discuss an extension of this property to the case when there are heterogeneous, constant communication delays in the interconnection. If the interconnected systems are output strictly passive, we show that their feedback interconnection is passive independent of the constant delays. We exploit this property to achieve delay-independent output synchronization. This result is then used in the problem of bilateral teleoperation to synchronize the master/slave velocities in free motion. We also develop an architecture that guarantees state synchronization of the master/slave robots in free motion independent of the constant delay. Experimental results are presented to verify the efficacy of the state-synchronizing architecture. [ABSTRACT FROM AUTHOR]

In this paper we study passivity-based control for the problem of coordination and synchronization of multi-agent systems. We treat agents described by affine nonlinear systems that are input-output passive and that exchange information over a network described by an interconnection graph. We treat both linear interconnections on balanced, directed graphs and nonlinear interconnections on undirected graphs. We present synchronization results for both fixed and switching graphs. Finally, we treat the realistic case of time delay in the communication of information among agents. Our results unify several existing results from the literature on multi-agent systems. [ABSTRACT FROM AUTHOR]