Event-Based Communication and Control for Task-Space Consensus of Networked Euler-Lagrange Systems

Van Tam Ngo, Yen Chen Liu

研究成果: Article同行評審

摘要

In this paper, we study the problems of event-based communication and actuation algorithms to mitigate unnecessary network burden and energy consumption, hence increasing the number and work time of robots/agents in a network of multi-agent systems. By considering the general dynamic model of networked Euler-Lagrange systems and utilizing the adaptive control algorithm, we propose two event-triggered schemes, an event-based communication, and an event-based controller for a large number of agents to achieve consensus in the task space. Assuming that the network connection is directed spanning tree and the time-varying communication delays are bounded. Theoretical analyses of the proposed control algorithms for both leaderless and leader-follower (static leader) consensus are studied by employing the Lyapunov technique and function analysis. It revealed that the network achieved global stability and asymptotical convergence with avoidance of Zeno behavior. We experimented with a system of four robotic manipulators and performed numerical simulations for a networked mobile manipulator to demonstrate the efficiency and efficacy of the proposed consensus algorithms.

原文English
期刊IEEE Transactions on Control of Network Systems
DOIs
出版狀態Accepted/In press - 2021

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 訊號處理
  • 電腦網路與通信
  • 控制和優化

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