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

doi:10.1109/TCYB.2021.3122339

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties
	Cao, Ran 1,2; Cheng, Long 1,2
刊名	IEEE TRANSACTIONS ON CYBERNETICS
	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
DOI	10.1109/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.
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关键词	CONSENSUS
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000733533500001
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
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.