Consensus of multi-agent systems with nonuniform non-differentiable time-varying delays

Savino, Heitor J.; Cota, A. P. L.; Souza, Fernando O.; Pimenta, Luciano C. A.; Mendes, Eduardo M. A. M.; Mozelli, Leonardo Amaral

doi:10.23919/ecc.2013.6669687

Cited by 5 publications

(2 citation statements)

References 13 publications

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“…Then, it can be verified that and . Since the communication topology among the systems is connected [28], there exists an orthogonal matrix satisfying . By separating into , where and , (10) can be transformed into the following form: (11) where and are the first rows and last rows of , respectively, and and are the first rows and last rows of , respectively.…”

Section: A Consensus Of Multiple Euler-lagrange Systems With Single-mentioning

confidence: 99%

Distributed Consensus of Multiple Euler–Lagrange Systems Networked by Sampled-Data Information With Transmission Delays and Data Packet Dropouts

Zhao

Zheng

et al. 2017

IEEE Trans. Automat. Sci. Eng.

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In this paper, the distributed consensus problem for a class of multiple Euler-Lagrange systems is solved. The considered issues are: 1) sampled-data information; 2) transmission delay; and 3) data packet dropouts. The considered mathematical models can describe a large number of practical systems in the actual engineering. In particular, all of the information exchanges are modeled by a sample-and-hold mechanism, which is more reliable and practical in applications. Moreover, this framework can deal with time-varying transmission delays and data packet dropouts by taking into account the limited communication capacity of information exchanges. By utilizing model transformation and applying the Lyapunov-Krasovskii functional method, sufficient conditions are first established with single-packet information exchanges to ensure that the networked Euler-Lagrange systems can achieve consensus under undirected communication topology. Then, the obtained results are further extended to the multiple-packet transmission case. Finally, an example of four two-link manipulators with time-varying transmission delays and data packet dropouts is addressed to verify the effectiveness and applicability of our theoretical results.Note to Practitioners-The motivation of this paper is to investigate a practical networking strategy for the cooperative control of multiple Euler-Lagrange systems that have been widely applied in modeling robotic manipulators, autonomous underwater vehicles, and spacecrafts. Existing approaches are mainly based on the continuous-time communication network, which are difficult to be implemented in the real-world applications. In addition, energy consumption problems for multi-agent systems have received increasing attention in recent years, which also motivate us to carry out the present study. Since continuous-time communications inevitably consume much energy, how to find an effective way to reduce energy cost is an urgent task. Therefore, this paper Manuscript presents a novel method for communications among multiple Euler-Lagrange systems based on the sampled-data information, where discrete-time communications are used instead of continuous-time communications. Another advantage of the proposed method is that it can significantly reduce the transmission energy consumption. Furthermore, both transmission delays and data packet dropouts are taken into account which make our results more applicable in practice.Index Terms-Consensus, data packet dropouts, Euler-Lagrange system, sampled-data, transmission delays.

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Section: A Consensus Of Multiple Euler-lagrange Systems With Single-mentioning

confidence: 99%

Distributed Consensus of Multiple Euler–Lagrange Systems Networked by Sampled-Data Information With Transmission Delays and Data Packet Dropouts

Zhao

Zheng

et al. 2017

IEEE Trans. Automat. Sci. Eng.

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show abstract

“…Savino et al (2013) extended their analysis method considering also a lower limit for the time delay that can be different from zero, but limited for undirected networks. These two papers considered agents with single integrator dynamics.…”

Section: Introductionmentioning

confidence: 98%

Consensus with guaranteed convergence rate of high-order integrator agents in the presence of time-varying delays

Savino

Souza

Pimenta

2015

International Journal of Systems Science

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This paper aims to study the consensus problem in directed networks of agents with high-order integrator dynamics and fixed topology. It is considered the existence of non-uniform time-varying delays in the agents control laws for each interaction between agents and their neighbours. Based on Lyapunov-Krasovskii stability theory and algebraic graph theory, sufficient conditions, in terms of linear matrix inequalities, are given to verify if consensus is achieved with guaranteed exponential convergence rate. The efficiency of the proposed method is verified by numerical simulations. The simulations reveal that the conditions established in this work outperformed the similar existing ones in all numerical tests accomplished in this paper.

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Robust PID controller design for positioning systems with hysteresis and time-varying delay

Abreu,

Cardoso,

Souza

2024

International Journal of Control

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Consensus of multi-agent systems with nonuniform non-differentiable time-varying delays

Cited by 5 publications

References 13 publications

Distributed Consensus of Multiple Euler–Lagrange Systems Networked by Sampled-Data Information With Transmission Delays and Data Packet Dropouts

Distributed Consensus of Multiple Euler–Lagrange Systems Networked by Sampled-Data Information With Transmission Delays and Data Packet Dropouts

Consensus with guaranteed convergence rate of high-order integrator agents in the presence of time-varying delays

Robust PID controller design for positioning systems with hysteresis and time-varying delay

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