Event-Triggered Bipartite Consensus in Networked Euler-Lagrange Systems With External Disturbance

被引：28

作者：

Deng, Qun ^{[1
]}

Peng, Yan ^{[1
]}

Han, Tao ^{[2
,3
]}

Qu, Dong ^{[1
]}

机构：

[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China

[2] Southeast Univ, Sch Math, Nanjing 210096, Peoples R China

[3] Hubei Normal Univ, Coll Mechatron & Control Engn, Huangshi 435002, Hubei, Peoples R China

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2021年 / 68卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Robots; Eigenvalues and eigenfunctions; Circuits and systems; Symmetric matrices; Multi-agent systems; Mechatronics; Unmanned aerial vehicles; Event-triggered control; Euler-Lagrange systems; bipartite consensus; disturbance; MULTIAGENT SYSTEMS; SYNCHRONIZATION;

D O I：

10.1109/TCSII.2021.3057859

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This brief presents an even-triggered control framework for networked Euler-Lagrange systems to achieve bipartite consensus even in the presence of external disturbance. In particular, an adaptive protocol with simple distributed updating laws is proposed by combining the disturbance compensator technique. The new event-triggered control algorithm is constructed without utilizing velocity information, which mitigates the cost on distributed bipartite consensus protocol design. Additionally, there is no Zeno behaviors by giving the positive lower bounds of execution intervals. Numerical examples are applied in the end to verify the correctness of theoretical results.

引用

页码：2870 / 2874

页数：5

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