Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Multimachine Stability01:25

Multimachine Stability

235
Multimachine stability analysis is crucial for understanding the dynamics and stability of power systems with multiple synchronous machines. The objective is to solve the swing equations for a network of M machines connected to an N-bus power system.
In analyzing the system, the nodal equations represent the relationship between bus voltages, machine voltages, and machine currents. The nodal equation is given by:
235
State Space Representation01:27

State Space Representation

301
The frequency-domain technique, commonly used in analyzing and designing feedback control systems, is effective for linear, time-invariant systems. However, it falls short when dealing with nonlinear, time-varying, and multiple-input multiple-output systems. The time-domain or state-space approach addresses these limitations by utilizing state variables to construct simultaneous, first-order differential equations, known as state equations, for an nth-order system.
Consider an RLC circuit, a...
301
State Space to Transfer Function01:21

State Space to Transfer Function

314
The conversion of state-space representation to a transfer function is a fundamental process in system analysis. It provides a method for transitioning from a time-domain description to a frequency-domain representation, which is crucial for simplifying the analysis and design of control systems.
The transformation process begins with the state-space representation, characterized by the state equation and the output equation. These equations are typically represented as:
314
Distributed Loads: Problem Solving01:21

Distributed Loads: Problem Solving

745
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
745
Transfer Function to State Space01:23

Transfer Function to State Space

420
State-space representation is a powerful tool for simulating physical systems on digital computers, necessitating the conversion of the transfer function into state-space form. Consider an nth-order linear differential equation with constant coefficients, like those encountered in an RLC circuit. The state variables are selected as the output and its n−1 derivatives. Differentiating these variables and substituting them back into the original equation produces the state equations.
In an...
420
Stability of Equilibrium Configuration: Problem Solving01:13

Stability of Equilibrium Configuration: Problem Solving

678
The stability of equilibrium configurations is an important concept in physics, engineering, and other related fields. In simple terms, it refers to the tendency of an object or system to return to its equilibrium position after being disturbed. The stability of an equilibrium configuration can be analyzed by considering the potential energy function of the system and examining its behavior near the equilibrium point.
Problem-solving in the context of the stability of equilibrium configuration...
678

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Growth Month-Associated Variation in Volatile Profiles, Anti-Glycation Capacity, and Antioxidant Activity of <i>Cyclocarya paliurus</i> Leaves: A Pilot Study.

Foods (Basel, Switzerland)·2026
Same author

Functional characterization and evolutionary insights into β-carboline O-methyltransferases in Peganum multisectum.

The Plant journal : for cell and molecular biology·2026
Same author

A three-pronged strategy with minimalist nattokinase nanocomposite eye drops breaks the vicious cycle in ultraviolet-B-induced cataract.

Journal of nanobiotechnology·2026
Same author

RNF10 attenuates age-related muscle atrophy by promoting p53 degradation and alleviating oxidative stress.

Free radical biology & medicine·2026
Same author

Exploring Chiral Exceptional Lines in the Visible Regime.

Physical review letters·2026
Same author

Dynamic network analysis of air pollution-related health vulnerability: Implications for policy synergy.

Environmental pollution (Barking, Essex : 1987)·2026
Same journal

Composite fault-tolerant predictive control strategy for PMSM demagnetization faults.

ISA transactions·2026
Same journal

Bias-compensated Q-learning for optimal tracking control under denial-of-service attacks.

ISA transactions·2026
Same journal

Motion prediction for leader manipulator of teleoperation system with large time delay based on inverse optimal control.

ISA transactions·2026
Same journal

Neural network parameter identification-based prescribed-time adaptive control for morphing glide aircraft.

ISA transactions·2026
Same journal

Nonlinear system-guided continuous-time generalization for cross-aircraft engine state monitoring.

ISA transactions·2026
Same journal

Predefined-time distributed optimal formation control for constrained UAV-UGV systems.

ISA transactions·2026
See all related articles

Related Experiment Video

Updated: Sep 19, 2025

Large Scale Energy Efficient Sensor Network Routing Using a Quantum Processor Unit
05:30

Large Scale Energy Efficient Sensor Network Routing Using a Quantum Processor Unit

Published on: September 8, 2023

671

Distributed formation control for port-Hamiltonian multi-agent systems by average state estimation.

Jingyi Zhao1, Yongxin Wu2, Yuqian Guo3

  • 1The Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and the School of Control Science and Engineering, Dalian University of Technology, Dalian, 116024, China.

ISA Transactions
|June 7, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces two novel distributed controllers for multi-agent mechanical systems using port-Hamiltonian (PH) dynamics to achieve formation control. The controllers ensure privacy by sharing only average state estimations, enabling robust and efficient system convergence.

Keywords:
Distributed controllerFormation controlPort-Hamiltonian systemsState protection

More Related Videos

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.6K
The HoneyComb Paradigm for Research on Collective Human Behavior
06:48

The HoneyComb Paradigm for Research on Collective Human Behavior

Published on: January 19, 2019

9.5K

Related Experiment Videos

Last Updated: Sep 19, 2025

Large Scale Energy Efficient Sensor Network Routing Using a Quantum Processor Unit
05:30

Large Scale Energy Efficient Sensor Network Routing Using a Quantum Processor Unit

Published on: September 8, 2023

671
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.6K
The HoneyComb Paradigm for Research on Collective Human Behavior
06:48

The HoneyComb Paradigm for Research on Collective Human Behavior

Published on: January 19, 2019

9.5K

Area of Science:

  • Robotics and Control Systems
  • Networked Systems
  • Applied Mathematics

Background:

  • Formation control of multi-agent systems is a growing research area, driven by advancements in information technology.
  • Port-Hamiltonian (PH) dynamics offer a structured framework for analyzing complex mechanical systems.

Purpose of the Study:

  • To develop distributed controllers for formation control of multi-agent mechanical systems with PH dynamics.
  • To ensure privacy by limiting information exchange between agents.
  • To analyze the convergence properties and stability of the closed-loop system.

Main Methods:

  • The formation problem is reformulated as an optimization problem.
  • Two distributed controllers are proposed: one for position-based formation and another for characterizing convergence rates.
  • Lyapunov functions are used to prove asymptotic and exponential stability.
  • The controllers utilize neighbor-averaged state estimations for privacy preservation.

Main Results:

  • The first controller preserves the PH structure, simplifying stability analysis for position-based formations.
  • The second controller guarantees exponential stability and provides a minimum convergence rate.
  • Controllers were validated on a nonholonomic wheeled robot system.

Conclusions:

  • The proposed distributed controllers effectively achieve formation control for PH multi-agent systems.
  • The controllers enhance system privacy and offer provable stability and convergence guarantees.
  • The methods are applicable to real-world robotic systems, such as nonholonomic wheeled robots.