Synchronization of networked passive systems with directed communication topologies

The coordination and synchronization problems of networked passive systems with directed communication topologies are discussed in this paper. Compared with previous work in the context of passivity-based control, the development in this paper is for more general directed communication graphs. It is shown that when the communication topologies are strongly connected, the output synchronization can be achieved for the networked passive systems. The realistic communication delays and actuator saturation are also considered. The achieved results are used to synchronize the networked Lagrangian systems. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms.