Velocity-Free Event-Triggered Control for Multiple Euler-Lagrange Systems With Communication Time Delays

• 成果类型: Article
• 署名作者: Wei, Bo; Xiao, Feng; Fang, Fang; Shi, Yang
• 署名单位: North China Electric Power University; North China Electric Power University; University of Victoria
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3054064
• 发表日期: 2021
• 页码: 5599-5605
• 关键词: Multi-agent systems; Heuristic algorithms; Velocity measurement; Robot kinematics; Consensus control; Vehicle dynamics; sensors; Consensus problem; Euler-Lagrange (EL) systems; event-triggered control; velocity-free feedback

摘要

This article considers the consensus problem of multiple Euler-Lagrange systems subject to unavailable velocity information and limited communication resources. First, a new event-triggered communication scheme, based on designing a virtual system for each agent, is proposed to achieve the coordination task without velocity information. The event-triggering conditions only rely on the states of virtual systems and allow agents to transmit virtual states only at some discrete time instants. Under the proposed strategy, the control objective can be accomplished with lower communication and measurement costs. Second, we consider the time delay effects in each information channel with event-triggered communication. For the proposed event-triggered scheme, the Zeno triggering is excluded. Finally, two simulation examples with six two-linked robot manipulator arms are given to demonstrate the effectiveness of the proposed scheme.