Fully Distributed Event-Triggered Optimal Coordinated Control for Multiple Euler–Lagrangian Systems

This paper addresses the capturing control problem of a plug-and-play modularized dragfree spacecraft system, including two spherical proof masses, where the performance constraints, collision risk, uncertain model parameters, unknown external disturbances, and limited communication are considered simultaneously. First, a nonlinear relative dynamics of spherical proof masses with respect to spacecraft is formulated for the capture process. Second, two different prescribed performance event-triggered robust collision-free capturing control strategies are developed to capture the free-floating proof masses successfully. Suppose only the performance metrics on the relative position are considered, and an event-triggered adaptive terminal sliding mode capturing controller is implemented to achieve the capture process within a finite time. Suppose more performance constraints, such as the user predefined capture duration and the performance bounds on both the relative position and the relative velocity, are taken into account, and an event-triggered appointed-time prescribed performance capturing controller is proposed to solve the above issues. In particular, an artificial potential function is utilized to avoid the collision, and a relative threshold event-triggered rule is employed to save the communication source between the controller and the actuator without any Zeno behaviour. The simulation results demonstrate the efficacy and superiority of the proposed method.

show abstract

“…In order to obtain the derivative of

\skew6\breve{f}_{c,i}(t)

, as noted in Remark 4, we approximate the sign function by hyperbolic tangent function:

\text{sign}(s_{i}) \approx \tanh (\frac{s_{i}}{\epsilon _0})

, where ε 0 is a small positive scalar. Similar to [44, 45], one can get that

\begin{eqnarray} \frac{d}{dt}|\Theta _{i,j}(t)| = \text{diag}(\dot{\Theta }_{i.j}(t))\text{sign}(\Theta _{i.j}(t)) \le |\dot{\skew6\breve{f}}_{c,ij}(t)|. \end{eqnarray}

As analyzed before, the variables of the system are all bounded.…”

Section: The Et‐atsm Capturing Controller Designmentioning

confidence: 99%

Event‐triggered prescribed performance robust collision‐free capturing control for drag‐free spacecraft system

Wang

Liu

Qiu

et al. 2022

IET Control Theory & Appl

View full text Add to dashboard Cite

show abstract

Resilient event‐triggered fault‐tolerant optimization for Euler–Lagrange plants with intermittent communication and asynchronous DoS attacks

Yuan,

Yao,

Park

et al. 2024

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This paper investigates the distributed optimization problem of networked Euler–Lagrange (EL) systems with actuator faults and unknown model parameters. In order to solve this issue, some event‐triggered fault‐tolerant (ETFT) optimal coordination algorithms with the mechanism of intermittent communication and intermittent controller update are designed for the first time to compensate for the impact of physical faults on the system, and reduce communication costs and control resource consumption. For practical applications, it is difficult for the system to have a secure environment if there exist malicious attacks blocking network channels among agents. Therefore, the resilient ETFT optimal coordination with intermittent communication subject to asynchronous denial‐of‐service (DoS) attacks is considered. Especially, auxiliary systems with adaptive gains are introduced in the algorithms due to the unavailability of the EL model parameters, which also enable virtual data exchange between agents and protect actual state information. Note that the algorithms are fully distributed as the global topology information is not required. Finally, the feasibility of the proposed algorithms is verified through numerical simulation of examples.

show abstract

Distributed optimal consensus of multiagent systems with Markovian switching topologies: synchronous and asynchronous communications

Zhang,

Zhou

et al. 2023

Sci. China Inf. Sci.

View full text Add to dashboard Cite

Fully Distributed Event-Triggered Optimal Coordinated Control for Multiple Euler–Lagrangian Systems

Cited by 12 publications

References 40 publications

Event‐triggered prescribed performance robust collision‐free capturing control for drag‐free spacecraft system

Event‐triggered prescribed performance robust collision‐free capturing control for drag‐free spacecraft system

Resilient event‐triggered fault‐tolerant optimization for Euler–Lagrange plants with intermittent communication and asynchronous DoS attacks

Distributed optimal consensus of multiagent systems with Markovian switching topologies: synchronous and asynchronous communications

Contact Info

Product

Resources

About