Event-based leader-follower consensus for multiple Euler-Lagrange systems with parametric uncertainties
MetadataShow full item record
An adaptive, distributed, event-triggered controller is proposed in this paper to study the problem of leader-follower consensus for a directed network of Euler-Lagrange agents. We show that if each agent uses the proposed controller, the leader-follower consensus objective is globally asymptotically achieved if the directed network contains a directed spanning tree with the leader as the root node. We provide a trigger function to govern the event time; at each event time the controller is updated. In doing so, we also obtain an explicit lower bound on the time interval between events and thus we conclude that the proposed controller does not exhibit Zeno behavior. Simulations are provided which show the effectiveness of the proposed controller. Also shown in the simulations is the piecewise constant nature of the control law; this significantly reduces the number of updates required by each actuator, thereby saving energy resources.
Showing items related by title, author, creator and subject.
Liu, Q.; Ye, Mengbin ; Qin, J.; Yu, C. (2019)This paper proposes three different distributed event-triggered control algorithms to achieve leader-follower consensus for a network of Euler-Lagrange agents. We first propose two model-independent algorithms for a ...
Colonial, economic rationalist, or collegial? Indonesian business leaders' perceptions (2001) of G7 behaviourDaale, Peter (2003)This research project aims to determine Indonesian business leaders perceptions of G7 behaviour towards Indonesia after Independence (1945/1949), at a time when the country is experiencing a severe financial and economic ...
The Role of Leader Support in Facilitating Proactive Work Behavior: A Perspective From Attachment TheoryWu, C.; Parker, Sharon (2017)Researchers have proposed that leader support helps employees behave proactively at work. Leader support can facilitate the opportunities for employees to bring about change, as well as their motivation to do so. Nevertheless, ...