Hierarchical optimization for task-space bipartite coordination of multiple uncertain Lagrange plants

Gu, Zhi-Wei; Ge, Ming‐Feng; Liu, Zhiwei; Yan, Huaicheng; Liu, Jie; Xu, Jing-Zhe

doi:10.1016/j.automatica.2022.110829

Cited by 5 publications

(2 citation statements)

References 31 publications

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“…Some inherent properties about (1) that are particularly necessary for controller design and analysis are listed below. 36,37 Property 1. The matrix Ṁi (x i ) − 2C i (x i , ̇xi ) is skew symmetric.…”

Section: Problem Formulationmentioning

confidence: 99%

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Fixed‐time consensus of networked Euler–Lagrange systems over event‐based communication under DoS attacks

Hua,

Yao,

Liu

et al. 2024

Intl J Robust & Nonlinear

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This article focuses on fixed‐time consensus of networked Euler–Lagrange systems (NELSs) over event‐based communication under denial‐of‐service (DoS) attacks. First of all, a basic fixed‐time consensus algorithm is developed for NELSs, where a general fixed‐time communication triggering scheme through error decomposition method is designed for decreasing communication frequencies while avoiding singularity. Then, to fulfil the consensus problem of NELSs in the presence of DoS attacks, a novel fixed‐time resilient algorithm is further presented by the basic algorithm, where the effective attack interval is redefined for carrying out the algorithm design. Furthermore, a hierarchical fixed‐time control framework with privacy preservation is introduced for the consensus problem of NELSs under DoS attacks. Meanwhile, a self‐triggered scheme is employed for the above algorithms to lower the update frequencies of control inputs. The stated algorithms possess a uniformly constrained upper bound on the convergence time, and are resilient as well as responsive to DOS attacks while saving control resources significantly. Finally, numerous illustrative examples are given for demonstrating the efficacy of the derived schemes.

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Section: Problem Formulationmentioning

confidence: 99%

“…Some inherent properties about (1) that are particularly necessary for controller design and analysis are listed below 36,37 …”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

Fixed‐time consensus of networked Euler–Lagrange systems over event‐based communication under DoS attacks

Hua,

Yao,

Liu

et al. 2024

Intl J Robust & Nonlinear

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show abstract

Quantized-data resource allocation for reinforcement learning cooperative control of networked Euler-Lagrange agents with input saturation

Ding,

Song,

2023

Journal of the Franklin Institute

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Event-triggered fault-tolerant optimal coordination for multiple Euler–Lagrange systems with semi-Markov jumping networks

Yuan,

Yao,

et al. 2023

International Journal of Control

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Hierarchical optimization for task-space bipartite coordination of multiple uncertain Lagrange plants

Cited by 5 publications

References 31 publications

Fixed‐time consensus of networked Euler–Lagrange systems over event‐based communication under DoS attacks

Fixed‐time consensus of networked Euler–Lagrange systems over event‐based communication under DoS attacks

Quantized-data resource allocation for reinforcement learning cooperative control of networked Euler-Lagrange agents with input saturation

Event-triggered fault-tolerant optimal coordination for multiple Euler–Lagrange systems with semi-Markov jumping networks

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