Distributed Coordination Control of Networked Lagrangian Systems with Velocity and Input Constraints over Event-Triggered Communication

In this paper, the coordination control problem of networked Euler-Lagrange (E-L) systems with velocity and input constraints over event-triggered communication is considered. A novel distributed controller is proposed to achieve the control objective under reasonable initial conditions. Unlike exis...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) 2023-10, Vol.70 (10), p.1-10
Hauptverfasser: Luo, Xiaoyuan, Fu, Yuliang, Li, Xiaolei, Wang, Jiange
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Fu, Yuliang
Li, Xiaolei
Wang, Jiange
description In this paper, the coordination control problem of networked Euler-Lagrange (E-L) systems with velocity and input constraints over event-triggered communication is considered. A novel distributed controller is proposed to achieve the control objective under reasonable initial conditions. Unlike existing methods, neither the proposed controller nor the event-triggered scheme relies on any global information of the communication graph. Also, Zeno behavior is proved to be non-existent. In addition, the constraints on the system velocity and input will not be violated. Finally, case studies and experiment results are provided to show the effectiveness of the proposed method.
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subjects Behavioral sciences
Consensus control
Control systems
Controllers
Coordination
Couplings
Eigenvalues and eigenfunctions
Event-triggered communication
Initial conditions
Laplace equations
Multi-agent systems
Networked E-L systems
Vehicle dynamics
Velocity and input constraints
title Distributed Coordination Control of Networked Lagrangian Systems with Velocity and Input Constraints over Event-Triggered Communication
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