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dc.contributor.authorLiu, Q.
dc.contributor.authorYe, Mengbin
dc.contributor.authorQin, J.
dc.contributor.authorYu, C.
dc.date.accessioned2021-07-06T12:45:17Z
dc.date.available2021-07-06T12:45:17Z
dc.date.issued2019
dc.identifier.citationLiu, Q. and Ye, M. and Qin, J. and Yu, C. 2019. Event-triggered algorithms for leader-follower consensus of networked euler-lagrange agents. IEEE Transactions on Systems, Man, and Cybernetics: Systems. 49 (7): pp. 1435-1447.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/84387
dc.identifier.doi10.1109/TSMC.2017.2772820
dc.description.abstract

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 subclass of Euler-Lagrange agents without the vector of gravitational potential forces. By model-independent, we mean that each agent can execute its algorithm with no knowledge of the agent self-dynamics. A variable-gain algorithm is employed when the sensing graph is undirected; algorithm parameters are selected in a fully distributed manner with much greater flexibility compared to all previous work studying event-triggered consensus problems. When the sensing graph is directed, a constant-gain algorithm is employed. The control gains must be centrally designed to exceed several lower bounding inequalities, which require limited knowledge of bounds on the matrices describing the agent dynamics, bounds on network topology information, and bounds on the initial conditions. When the Euler-Lagrange agents have dynamics that include the vector of gravitational potential forces, an adaptive algorithm is proposed. This requires more information about the agent dynamics but allows for the estimation of uncertain parameters associated with the agent self-dynamics. For each algorithm, a trigger function is proposed to govern the event update times. The controller is only updated at each event, which ensures that the control input is piecewise constant and thus saves energy resources. We analyze each controller and trigger function to exclude Zeno behavior.

dc.languageEnglish
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.sponsoredbyhttp://purl.org/au-research/grants/arc/ DP160104500
dc.relation.sponsoredbyhttp://purl.org/au-research/grants/arc/ DP130103610
dc.subjectScience & Technology
dc.subjectTechnology
dc.subjectAutomation & Control Systems
dc.subjectComputer Science, Cybernetics
dc.subjectComputer Science
dc.subjectEuler-Lagrange dynamics
dc.subjectevent-based control
dc.subjectleader-follower consensus
dc.subjectmultiagent systems
dc.subjectLINEAR MULTIAGENT SYSTEMS
dc.subjectTRACKING
dc.titleEvent-triggered algorithms for leader-follower consensus of networked euler-lagrange agents
dc.typeJournal Article
dcterms.source.volume49
dcterms.source.number7
dcterms.source.startPage1435
dcterms.source.endPage1447
dcterms.source.issn2168-2216
dcterms.source.titleIEEE Transactions on Systems, Man, and Cybernetics: Systems
dc.date.updated2021-07-06T12:45:16Z
curtin.note

© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

curtin.departmentSchool of Electrical Engineering, Computing and Mathematical Sciences (EECMS)
curtin.accessStatusOpen access
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]
dcterms.source.eissn2168-2232
curtin.contributor.scopusauthoridYe, Mengbin [56203529600]


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