Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach

被引：42
|
作者：
Huang Na [1 ]
Duan ZhiSheng [1 ]
Zhao Yu [1 ]
机构：
[1] Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
来源：
SCIENCE CHINA-TECHNOLOGICAL SCIENCES | 2016年 / 59卷 / 01期
基金：
中国国家自然科学基金;
关键词：
consensus; event-triggered strategy; Euler-Lagrange system; distributed control; TIME MULTIAGENT SYSTEMS; SPACECRAFT FORMATION; TRACKING CONTROL; CONTAINMENT CONTROL; AVERAGE CONSENSUS; COORDINATION; INFORMATION; NETWORKS;
D O I：
10.1007/s11431-015-5987-9
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler- Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.
引用
收藏
页码：33 / 44
页数：12
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