Event-Triggered Consensus Control for Networked Underactuated Robotic Systems

Abstract

In this article, the consensus of networked underactuated robotic systems subject to fixed and switched communication networks is discussed by developing some novel event-triggered control algorithms, which can synchronously guarantee the convergence of the active states, the boundedness of the velocities of passive actuators, and the exclusion of Zeno behaviors. In the cases of fixed networks, the sufficient criteria are established for the presented distributed event-triggered mechanisms with and without using neighbors' velocities, in order to achieve a better tradeoff between the communication load and system performance. Besides, in the situation of switched networks, the sufficient criterion is established by assuming that the union of the network has a spanning tree. A distributed sampled-data rule is constructed to decide when to update its own and neighbors' estimated positions, and thus further reduces the unnecessary control cost. Finally, by further extending the main results to three other sampled-data control algorithms, several examples with performance comparisons are provided to validate the efficiency and advantages of the theoretical results.

Projective quasi-synchronization of coupled memristive neural networks with uncertainties and impulsive effect

“…Compared with complete synchronization, the error of synchronization should be allowed within a reasonable range for the robotic system, while keeping more operation resilience, and has been widely devoted to many practical applications, including underactuated robotic systems, underwater vehicles, and wheeled robots (Tang et al, 2016;Huang et al, 2018;Chen and Shan, 2019;Yao et al, 2020). Therefore, the investigation of quasi-synchronization is significant and necessary in theory and application.…”

Event-based fixed-time formation-containment control for networked Euler-Lagrange systems

“…Besides, it should be noted that reducing energy consumption is highly desirable in a resource-constrained environment. While the preceding approaches still require continuous controller and communication updates, and it thus leads to substantial communication consumption [13,14]. In order to overcome the aforementioned deficiencies, event-triggered control targeted at alleviating execution burdens has got a huge amount of effective attempts [15][16][17][18].…”

Frequency domain consensus control analysis of the networked multi-agent system with controller area network bus–induced delay

“…From last few years of research, it is observed that the cyber physical system has become an emergence field because of its increasing development in the field of complex coordination system (Chen et al, 2020; Gelbal et al, 2020; Villarreal-Cervantes et al, 2020). Examples of these coordination systems are autonomous systems (Chehardoli, 2020; Shi and Zhang, 2020; Zhang et al, 2018), robotic systems (Yao et al, 2020), unmanned aerial vehicles, formation control (Saska et al, 2020), and distributed electrical systems (Huang and Wang, 2020; Gavriluta et al, 2020). As a classical cyber physical system, these all consist of number of agents called networked multi-agent systems (NMASs) and these agents share their information with each other through a communication medium (Ge et al, 2018).…”