Multi-Pendulum Synchronization Using Constrained Agreement Protocols
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Abstract
This paper considers the problem of coordinating
multiple pendula attached to mobile bases. In particular,
the pendula should move in such a way that their motion
is synchronized, which calls for two problems to be solved
simultaneously, namely a constrained optimal control problem
for each pendulum, and a constrained agreement problem
across the network of pendula. A novel way of manipulating
the initial conditions in the consensus equation is presented that
will solve the latter of these problems, and simulation results are
presented that support the viability of the proposed approach.
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2009-04
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