Leaderless Consensus for Multiple Euler-Lagrange Systems with Event-Triggered Communication

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, the problem of consensus for multiagent systems, modeling by Euler-Lagrange equations, is studied with event-triggered communication network. By utilizing a proportional plus damping control scheme, a triggering mechanism is developed so that agents can achieve consensus without continuously exchange their signals. The networked system is demonstrated to be stable with guaranteed consensus performance if the communication topology between agents are undirected and connected. Moreover, a triggering gain is introduced to tune the triggering sensitivity and frequency. The lower bounds of inter-event time for agents are presented so that the Zeno behavior is avoided in the event-triggered control system. The proposed system can reduce network-access-frequency, and stop exchanging output signals when the multi-agent system achieve consensus. Simulations with four Euler-Lagrange agents are illustrated to show the performance and efficiency of the proposed system.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2657-2662
Number of pages6
ISBN (Electronic)9781538666500
DOIs
Publication statusPublished - 2019 Jan 16
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: 2018 Oct 72018 Oct 10

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period18-10-0718-10-10

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Information Systems and Management
  • Health Informatics
  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction

Fingerprint Dive into the research topics of 'Leaderless Consensus for Multiple Euler-Lagrange Systems with Event-Triggered Communication'. Together they form a unique fingerprint.

  • Cite this

    Liu, Y. C. (2019). Leaderless Consensus for Multiple Euler-Lagrange Systems with Event-Triggered Communication. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 (pp. 2657-2662). [8616450] (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2018.00454