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Adaptive Neural Coordinated Control for Multiple Euler-Lagrange Systems With Periodic Event-Triggered Sampling.

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    This summary is machine-generated.

    This study introduces an event-triggered control for multiple Euler-Lagrange systems, reducing data updates. The method enhances system stability and performance despite uncertainties and disturbances.

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    Area of Science:

    • Robotics and Control Systems
    • Applied Mathematics
    • Aerospace Engineering

    Background:

    • Coordinated control of multiple Euler-Lagrange systems is crucial but challenged by parameter uncertainties and external disturbances.
    • Existing event-triggered control methods may require continuous monitoring, increasing computational load.

    Purpose of the Study:

    • To develop an event-triggered coordinated control scheme for uncertain multiple Euler-Lagrange systems.
    • To reduce communication and computation load by transforming a continuous event-triggered (CET) mechanism into a periodic event-triggered (PET) one.
    • To ensure system stability and performance under parameter uncertainties and external disturbances.

    Main Methods:

    • A distributed coordinated control scheme using neural network-based estimation for uncertainty compensation.
    • Development of an input-based continuous event-triggered (CET) mechanism.
    • Transformation of the CET mechanism into a periodic event-triggered (PET) policy by analyzing triggering function behavior.
    • Provision of a parameter selection criterion relating control performance and sampling period.

    Main Results:

    • The proposed event-triggered control scheme effectively compensates for parameter uncertainties and external disturbances.
    • The transformation to a periodic event-triggered (PET) policy significantly reduces the need for real-time monitoring and frequent control updates.
    • A numerical example demonstrates the effectiveness and superiority of the proposed scheme for satellite attitude synchronization.

    Conclusions:

    • The developed event-triggered coordinated control strategy offers an efficient and robust solution for multiple Euler-Lagrange systems.
    • The periodic event-triggered approach balances control performance with reduced computational and communication overhead.
    • The method is validated for practical applications such as multi-satellite attitude synchronization.