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Event-based distributed robust synchronization control for multiple Euler-Lagrange systems without relative velocity measurements

Xu, Tao; Duan, Zhisheng and Sun, Zhiyong LU (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.

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author
organization
publishing date
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
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
2019-06-28 12:52:35
@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},
  keyword      = {distributed synchronization control,Euler-Lagrange system,event-triggered control,robust control},
  language     = {eng},
  number       = {11},
  pages        = {3684--3700},
  publisher    = {John Wiley & Sons},
  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},
  volume       = {29},
  year         = {2019},
}