Event-based distributed robust synchronization control for multiple Euler-Lagrange systems without relative velocity measurements
(2019) In International Journal of Robust and Nonlinear Control 29(11). p.3684-3700- Abstract
This paper focuses on the event-based distributed robust leaderless synchronization control for multiple Euler-Lagrange systems with directed communication topology that contains a directed spanning tree. Update frequency of the system is reduced by taking advantages of the event-triggered approach, which can help extend the service life of the controller. Robust control theory is employed to guarantee the synchronization stability of the networked Euler-Lagrange systems when unmodeled dynamics occur. The cost on the distributed synchronization protocol design can be saved due to the relaxation of the requirement on relative velocity measurements. Furthermore, our results are more practical because unknown disturbance is taken into... (More)
This paper focuses on the event-based distributed robust leaderless synchronization control for multiple Euler-Lagrange systems with directed communication topology that contains a directed spanning tree. Update frequency of the system is reduced by taking advantages of the event-triggered approach, which can help extend the service life of the controller. Robust control theory is employed to guarantee the synchronization stability of the networked Euler-Lagrange systems when unmodeled dynamics occur. The cost on the distributed synchronization protocol design can be saved due to the relaxation of the requirement on relative velocity measurements. Furthermore, our results are more practical because unknown disturbance is taken into consideration. In addition, it can be rigorously analyzed that each agent can exclude the undesired Zeno behavior. Some simulation examples are provided in the end to demonstrate the effectiveness of the proposed event-based distributed robust control algorithm.
(Less)
- author
- Xu, Tao ; Duan, Zhisheng and Sun, Zhiyong LU
- organization
- publishing date
- 2019
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- distributed synchronization control, Euler-Lagrange system, event-triggered control, robust control
- in
- International Journal of Robust and Nonlinear Control
- volume
- 29
- issue
- 11
- pages
- 3684 - 3700
- publisher
- John Wiley & Sons Inc.
- external identifiers
-
- scopus:85065156666
- ISSN
- 1049-8923
- DOI
- 10.1002/rnc.4575
- language
- English
- LU publication?
- yes
- id
- 73cc75a3-0cb2-4df7-8d7f-5526211657d6
- date added to LUP
- 2019-05-24 11:55:58
- date last changed
- 2022-04-26 00:21:17
@article{73cc75a3-0cb2-4df7-8d7f-5526211657d6,
abstract = {{<p>This paper focuses on the event-based distributed robust leaderless synchronization control for multiple Euler-Lagrange systems with directed communication topology that contains a directed spanning tree. Update frequency of the system is reduced by taking advantages of the event-triggered approach, which can help extend the service life of the controller. Robust control theory is employed to guarantee the synchronization stability of the networked Euler-Lagrange systems when unmodeled dynamics occur. The cost on the distributed synchronization protocol design can be saved due to the relaxation of the requirement on relative velocity measurements. Furthermore, our results are more practical because unknown disturbance is taken into consideration. In addition, it can be rigorously analyzed that each agent can exclude the undesired Zeno behavior. Some simulation examples are provided in the end to demonstrate the effectiveness of the proposed event-based distributed robust control algorithm.</p>}},
author = {{Xu, Tao and Duan, Zhisheng and Sun, Zhiyong}},
issn = {{1049-8923}},
keywords = {{distributed synchronization control; Euler-Lagrange system; event-triggered control; robust control}},
language = {{eng}},
number = {{11}},
pages = {{3684--3700}},
publisher = {{John Wiley & Sons Inc.}},
series = {{International Journal of Robust and Nonlinear Control}},
title = {{Event-based distributed robust synchronization control for multiple Euler-Lagrange systems without relative velocity measurements}},
url = {{http://dx.doi.org/10.1002/rnc.4575}},
doi = {{10.1002/rnc.4575}},
volume = {{29}},
year = {{2019}},
}