Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays

被引：10
|
作者：
Aranda-Escolastico, E. [1 ]
Colombo, L. J. [2 ]
Guinaldo, M. [3 ]
机构：
[1] Univ Nacl Educ Distancia UNED, Dept Software & Syst Engn, Madrid, Spain
[2] CSIC, Inst Ciencias Matemat, Madrid, Spain
[3] Univ Nacl Educ Distancia UNED, Dept Informat & Automat, Madrid, Spain
来源：
ISA TRANSACTIONS | 2021年 / 117卷
关键词：
Event-triggered control; Shape control; Multi-agent systems; Lagrangian systems; COMPLEX NETWORKS; SYNCHRONIZATION; CONSENSUS;
D O I：
10.1016/j.isatra.2021.01.048
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We study the problem of periodic event-triggered targeted formation control for multi-agent Lagrangian systems. We assume that the equations of motion of each agent are derived from a Lagrangian function. Besides, each agent has information about a predefined convex set as a targeted set. The goal of the agents is to achieve the desired formation in the targeted sets, while the information is asynchronously shared by a periodic event-triggering specification, and there is also a time-delay in their communication. A novel distributed control law is proposed for the agents to reach the goal while their velocities are driven to zero. Applications and simulations are provided to validate the theoretical results. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：139 / 149
页数：11
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