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Area of Science:

  • Robotics and Control Theory
  • Networked Systems
  • Distributed Control

Background:

  • Achieving consensus in multi-agent systems is crucial for coordinated behavior.
  • Existing passivity-based control (PBC) methods struggle with sampled-data control and communication delays.
  • Discontinuous dynamics from sampled data and delays limit conventional PBC applicability.

Purpose of the Study:

  • To develop a novel control and analysis method for sampled-data, velocity-free consensus in Euler-Lagrange systems.
  • To overcome limitations of existing PBC methods in handling irregular communication delays.
  • To enable robust consensus in multi-agent systems under realistic network conditions.

Main Methods:

  • A novel control strategy treating system dynamics over continuous intervals and discrete instants separately.
  • Implementation of a virtual system framework to eliminate the need for velocity measurements.
  • Rigorous stability analysis to prove consensus despite discontinuous dynamics and delays.

Main Results:

  • Successfully demonstrated consensus in multiple Euler-Lagrange systems under irregular communication delays.
  • The proposed method effectively handles sampled-data control without requiring continuous feedback.
  • The virtual system framework relaxes the need for finite delay derivatives, enhancing practicality.

Conclusions:

  • The novel control and analysis method provides a robust solution for sampled-data, velocity-free consensus in Euler-Lagrange systems.
  • This work bridges a theoretical gap, making PBC applicable to realistic networked scenarios with delays.
  • Simulation results validate the effectiveness of the proposed consensus algorithm for multi-agent systems.