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Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties

文献类型：期刊论文

作者Cao, Ran1,2; Cheng, Long1,2
刊名IEEE TRANSACTIONS ON CYBERNETICS
出版日期2021-11-01
页码13
关键词Vehicle dynamics Nonlinear dynamical systems Symmetric matrices Laplace equations Heuristic algorithms Directed graphs Robot sensing systems Consensus containment dynamic event-triggered control Euler-Lagrange system multiagent systems (MASs)
ISSN号2168-2267
DOI10.1109/TCYB.2021.3122339
通讯作者Cheng, Long(long.cheng@ia.ac.cn)
英文摘要This article investigates the distributed dynamic event-triggered control of networked Euler-Lagrange systems with unknown parameters. Using the designed dynamic event-triggered control algorithm, the leaderless consensus problem and the containment problem of networked Euler-Lagrange systems are solved, and the estimations of unknown parameters are updated by an adaptive updating law as well. The stability analysis is given based on an appropriate Lyapunov function and the distributed control problem is theoretically solved by the designed control algorithm. The Zeno behavior of the designed dynamic event-triggered method is excluded in a finite-time interval. Compared to some existing results for the event-triggered control of networked Euler-Lagrange systems, these event-triggered methods can be seen as the special cases of the dynamic event-triggered method proposed in this article. Simulation results based on UR5 robots of V-rep show that the proposed method can provide an increase (4.46 +/- 3.36%) of the average lengths of event intervals compared to the one of the existing event-triggered methods, which leads to a lower usage of the communication resource. Meanwhile, the time of achieving the consensus/containment and the steady-state control performance are not affected.
WOS关键词CONSENSUS
资助项目National Natural Science Foundation of China[61633016] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[JQ19020]
WOS研究方向Automation & Control Systems ; Computer Science
语种英语
WOS记录号WOS:000733533500001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Beijing Natural Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/46902]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Cheng, Long
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Cao, Ran,Cheng, Long. Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties[J]. IEEE TRANSACTIONS ON CYBERNETICS,2021:13.
APA Cao, Ran,&Cheng, Long.(2021).Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties.IEEE TRANSACTIONS ON CYBERNETICS,13.
MLA Cao, Ran,et al."Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties".IEEE TRANSACTIONS ON CYBERNETICS (2021):13.

入库方式： OAI收割

来源：自动化研究所

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