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Twisting-Based Finite-Time Consensus for Euler–Lagrange Systems With an Event-Triggered Strategy | IEEE Journals & Magazine | IEEE Xplore

Twisting-Based Finite-Time Consensus for Euler–Lagrange Systems With an Event-Triggered Strategy


Abstract:

In this paper, a twisting-based consensus algorithm is put forward to deal with the event-triggered finite-time consensus for networked Lagrangian systems with directed g...Show More

Abstract:

In this paper, a twisting-based consensus algorithm is put forward to deal with the event-triggered finite-time consensus for networked Lagrangian systems with directed graphs. First, a fully distributed event-triggered finite-time protocol is considered, for which we can show that each agent can achieve the consensus after a settling time. In order to remove the requirement of continuous monitoring, a pull-based triggering mechanism is employed. Simultaneously, the Zeno-behavior can be excluded under a finite-time dynamic condition. Then, due to the advantages of non-chattering behaviors and finite-time convergence, a twisting-based consensus algorithm based on homogeneous techniques is developed to drive the Euler-Lagrange systems to the consensus value in a settling time. By means of Pólya's theorem and Sum of Squares tools, a polynomial Lyapunov function is constructed to verify our criteria. At last, we give a numerical example for 2-DOF prototype manipulators to verify the validity of the theoretical results.
Published in: IEEE Transactions on Network Science and Engineering ( Volume: 7, Issue: 3, 01 July-Sept. 2020)
Page(s): 1007 - 1018
Date of Publication: 19 February 2019

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