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    Event-based leader-follower consensus for multiple Euler-Lagrange systems with parametric uncertainties

    84269.pdf (420.4Kb)
    Access Status
    Open access
    Authors
    Liu, Q.
    Ye, Mengbin
    Qin, J.
    Yu, C.
    Date
    2016
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    Liu, Q. and Ye, M. and Qin, J. and Yu, C. 2016. Event-based leader-follower consensus for multiple Euler-Lagrange systems with parametric uncertainties. In: 55th IEEE Conference on Decision and Control (CDC), 12th Dec 2016, Las Vegas, NV.
    Source Title
    2016 IEEE 55th Conference on Decision and Control, CDC 2016
    Source Conference
    55th IEEE Conference on Decision and Control (CDC)
    DOI
    10.1109/CDC.2016.7798596
    ISBN
    9781509018376
    ISSN
    0743-1546
    Faculty
    Faculty of Science and Engineering
    School
    School of Elec Eng, Comp and Math Sci (EECMS)
    URI
    http://hdl.handle.net/20.500.11937/84385
    Collection
    • Curtin Research Publications
    Abstract

    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.

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