Abstract:
In this paper, the distributed consensus problem for a class of multiple Euler-Lagrange systems is solved. The considered issues are: 1) sampled-data information; 2) tran...Show MoreMetadata
Abstract:
In this paper, the distributed consensus problem for a class of multiple Euler-Lagrange systems is solved. The considered issues are: 1) sampled-data information; 2) transmission delay; and 3) data packet dropouts. The considered mathematical models can describe a large number of practical systems in the actual engineering. In particular, all of the information exchanges are modeled by a sample-and-hold mechanism, which is more reliable and practical in applications. Moreover, this framework can deal with time-varying transmission delays and data packet dropouts by taking into account the limited communication capacity of information exchanges. By utilizing model transformation and applying the Lyapunov-Krasovskii functional method, sufficient conditions are first established with single-packet information exchanges to ensure that the networked Euler-Lagrange systems can achieve consensus under undirected communication topology. Then, the obtained results are further extended to the multiple-packet transmission case. Finally, an example of four two-link manipulators with time-varying transmission delays and data packet dropouts is addressed to verify the effectiveness and applicability of our theoretical results.Note to Practitioners-The motivation of this paper is to investigate a practical networking strategy for the cooperative control of multiple Euler-Lagrange systems that have been widely applied in modeling robotic manipulators, autonomous underwater vehicles, and spacecrafts. Existing approaches are mainly based on the continuous-time communication network, which are difficult to be implemented in the real-world applications. In addition, energy consumption problems for multi-agent systems have received increasing attention in recent years, which also motivate us to carry out the present study. Since continuous-time communications inevitably consume much energy, how to find an effective way to reduce energy cost is an urgent task. Therefore, this paper prese...
Published in: IEEE Transactions on Automation Science and Engineering ( Volume: 14, Issue: 3, July 2017)