Journal ArticleDOI
Neural-network-based consensus of multiple Euler-Lagrange systems with an event-triggered mechanism
TLDR
This paper addresses the consensus problem for a class of multiple Euler-Lagrange systems, where agents communicate with neighbors under an event-triggered mechanism by integrating the Lyapunov functional method, neural network approximation and adaptive control techniques.Abstract:
This paper addresses the consensus problem for a class of multiple Euler-Lagrange systems, where agents communicate with neighbors under an event-triggered mechanism. Due to the more complex dynamical characteristics, the consensus problem of multiple Euler-Lagrange systems is more challenging than that of ordinary second-order multi-agent systems. In this study, we assume that the inertia matrix, the Coriolis and centrifugal term, and the gravitational torque are totally unknown, then a protocol is derived by integrating the Lyapunov functional method, neural network approximation and adaptive control techniques. In addition, the event-triggered mechanism effectively reduces the communication traffic, and the Zeno behavior is well excluded. By a demonstrative example, the effectiveness of the protocol is illustrated.read more
Citations
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Journal ArticleDOI
Modelling and control design of the electrostatic linear comb actuator
TL;DR: In this paper , the problem of establishing the dynamic model and designing the controller is investigated for ECLA working in the time-varying reference, and the tracking effectiveness is constructed for ELCA systems based on the consideration of roots of the equivalent differential equation in tracking error model.
Journal ArticleDOI
Task-Space Cooperative Tracking Control for Networked Uncalibrated Multiple Euler–Lagrange Systems
Zhuoqun Zhao,Jing Wang,Hui Zhao +2 more
TL;DR: In this article , an innovative task-space coordination controller is designed to deal with the time-varying communicating delays and uncertainties in a networked multiple Euler-Lagrange systems.
Journal ArticleDOI
Disturbance observer-based fixed-time leader-following consensus control for multiple Euler-Lagrange systems: A non-singular terminal sliding mode scheme
Xinchen Guo,Guoliang Wei +1 more
TL;DR: In this article , a leader-following consensus problem for multiple Euler-Lagrange (EL) systems via non-singular terminal sliding mode control under a directed graph is considered.
Journal ArticleDOI
Dynamic quantized control for switched fuzzy singularly perturbation systems with event-triggered protocol
TL;DR: In this article , a quantization-based event-triggered protocol for switched fuzzy systems with singular perturbation and an improved quantized protocol was proposed, where the nonhomogeneous sojourn probabilities were employed to characterize the dynamic behavior of switched fuzzy singularly perturbed systems based on deterministic switching signal.
Journal ArticleDOI
Robust event-triggered cooperative control of uncertain multiple Euler-Lagrange systems based on three kinds of random transformation topologies.
Guangshuo Du,Xiaoe Yang +1 more
TL;DR: In this article , the authors considered the consensus of uncertain multiple Euler-Lagrange systems and proposed a switching topology scheme based on switching topologies, the time-varying delay compensation, event-triggered mechanism, and finite-time convergence.
References
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TL;DR: In this article, event-triggered leader-follower tracking control for general linear dynamics is considered, and event triggering rules are proposed to guarantee bounded tracking errors for both undirected and directed follower graphs.
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