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

Chao Ma, Peng Shi, Xudong Zhao

    IEEE Transactions on Cybernetics
    |August 23, 2014
    PubMed
    Summary

    This study addresses the consensus problem in multiple Euler-Lagrange systems using sampled-data communication with time-varying delays. The proposed method reduces network burden and energy consumption while ensuring consensus achievement.

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    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.