Leader-Follower Synchronization of Euler-Lagrange Systems With Time-Varying Leader Trajectory and Constrained Discrete-Time Communication

Abdessameud, Abdelkader; Tayebi, Abdelhamid; Polushin, Ilia G.

doi:10.1109/tac.2016.2602326

Cited by 73 publications

(51 citation statements)

References 23 publications

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“…Note the fact that X ≥ X 1 and Y ≥ Y 1 implies ϑ, ε > 0. 3 Establishing that T 2 does not exist rules out the possibility of finite-time escape for system (13).…”

Section: Stability Proofmentioning

confidence: 99%

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Leader Tracking of Euler–Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm

Anderson

2019

IEEE Trans. Control Netw. Syst.

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In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with nonconstant velocity. We initially study a fixed network and show that the leader tracking objective is achieved semi-globally exponentially fast if the graph contains a directed spanning tree. By model-independent, we mean that each agent executes its algorithm with no knowledge of the parameter values of any agent's dynamics. Certain bounds on the agent dynamics (including any disturbances) and network topology information are used to design the control gain. This fact, combined with the algorithm's model-independence, results in robustness to disturbances and modelling uncertainties. Next, a continuous approximation of the algorithm is proposed, which achieves practical tracking with an adjustable tracking error. Last, we show that the algorithm is stable for networks that switch with an explicitly computable dwell time. Numerical simulations are given to show the algorithm's effectiveness.

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“…Note the fact that X ≥ X 1 and Y ≥ Y 1 implies ϑ, ε > 0. 3 Establishing that T 2 does not exist rules out the possibility of finite-time escape for system (13).…”

Section: Stability Proofmentioning

confidence: 99%

“…We do not consider an approximation for(14) because the observer involves computing state estimates, as opposed to the physical control input for(13).…”

mentioning

confidence: 99%

Leader Tracking of Euler–Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm

Anderson

2019

IEEE Trans. Control Netw. Syst.

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“…There are mainly two consensus problems: the leader‐follower, where a network has to be regulated at the given leader coordinate; and the leaderless, where there exists a common coordinate value where all agents agree. Since the fundamental works, motivated by several practical applications in engineering, the study of consensus and synchronization of multiple agents has increased in the recent years …”

Section: Introductionmentioning

confidence: 99%

“…Since the fundamental works, 7,8 motivated by several practical applications in engineering, the study of consensus and synchronization of multiple agents has increased in the recent years. [9][10][11][12][13] In this paper, we consider networks composed of N fully actuated and conservative Euler-Lagrange (EL) agents, with n-degrees-of-freedom (DoF). Each ith agent is described by…”

Section: Introductionmentioning

confidence: 99%

“…[4][5][6]15 Since then, a plethora of controllers have been proposed to solve different coordination problems, ranging from simple proportional plus damping (P+d) schemes 16,17 to more elaborated adaptive algorithms. 10,[18][19][20][21] It should be noted that most of the previous works require velocities to be measurable. However, many of the commercially available devices are not equipped with velocity sensors and those with velocity sensors are often prone to noise and additional velocity filters should be incorporated.…”

Section: Introductionmentioning

confidence: 99%

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Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping

Cruz‐Zavala

Nuño

Moreno

2019

Intl J Robust & Nonlinear

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Summary Motivated by the energy‐shaping framework and the properties of homogeneous systems, this paper deals with the problem of achieving consensus of multiple Euler‐Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity‐based control. We propose a method to derive a novel family of decentralized controllers that is capable of solving the leaderless and the leader‐follower consensus problems in finite‐time in networks of fully actuated EL systems without employing velocity measurements. As in the energy‐shaping methodology, the controller is another EL system and the plant‐controller interconnection is the gradient of a suitable defined potential function. The potential energy and dissipation functions, of the controller, are provided with some homogeneous properties in order to achieve finite‐time convergence. This paper provides several simulations that corroborate the performance of different controllers.

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Event‐based resilience to DoS attacks on communication for consensus of networked Lagrangian systems

Chen

Lyu

et al. 2020

Intl J Robust & Nonlinear

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Summary In this article, we consider the resilience analysis of the even‐based consensus control of networked Lagrangian systems under denial‐of‐service (DoS) attacks, which are usually implemented by the attackers to block the communication channels. Comparing with the linear cyber‐physical systems, the secure control of the networked Lagrangian systems is more complex and challenging, especially under the conditions of asymmetry communication and discontinuous control. To this end, an event‐based controller is first designed for consensus control of networked Lagrangian systems in the absence of DoS attacks. Sufficient conditions are given to stabilize the closed‐loop systems. Then the resilience analysis is presented for the event‐based controller under DoS attacks. Some conditions associated with the DoS duration and frequency are proposed for the control parameters against the attacks. Then Zeno behaviors are proved to be nonexistent in the proposed control scheme. An algorithm is also given to guide the control design.

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Leader-Follower Synchronization of Euler-Lagrange Systems With Time-Varying Leader Trajectory and Constrained Discrete-Time Communication

Cited by 73 publications

References 23 publications

Leader Tracking of Euler–Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm

Leader Tracking of Euler–Lagrange Agents on Directed Switching Networks Using a Model-Independent Algorithm

Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping

Event‐based resilience to DoS attacks on communication for consensus of networked Lagrangian systems

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