Consensus of Euler-Lagrange systems networked by sampled-data information with probabilistic time delays

Area of Science:

• Robotics
• Control Systems Engineering
• Networked Systems

Background:

• Consensus problems are crucial for coordinated control of multi-agent systems.
• Existing methods often assume continuous communication, which is unrealistic.
• Time-varying delays and sampled-data communication present significant challenges.

Purpose of the Study:

• To investigate consensus in multiple Euler-Lagrange systems under directed topology.
• To propose a realistic sampled-data communication strategy with probabilistic time-varying delays.
• To develop controllers that reduce communication network burden and energy consumption.

Main Methods:

• Utilizing sampled-data communication with probabilistic time-varying delays.
• Designing distributed controllers that do not require relative coordinate derivative information.
• Employing stochastic analysis techniques to establish consensus conditions.

Main Results:

• Sufficient conditions for achieving consensus in the presence of time-varying delays are derived.
• The proposed control scheme effectively reduces communication network load.
• The method demonstrates significant energy consumption reduction.

Conclusions:

• The developed sampled-data control strategy ensures consensus for Euler-Lagrange systems under realistic communication constraints.
• The findings offer a more practical and energy-efficient approach to multi-agent system coordination.
• Numerical examples validate the effectiveness and benefits of the proposed scheme.