Synchronization of Lagrangian Systems With Irregular Communication Delays

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

doi:10.1109/tac.2013.2270053

Cited by 114 publications

(82 citation statements)

References 21 publications

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“…The control scheme in Corollary 2 extends the relevant literature dealing with Euler-Lagrange systems with communication constraints (Abdessameud et al, 2014a;Chopra & Spong, 2006;Nuño et al, 2011Nuño et al, , 2013Wang, 2014, for instance) to the case where a non-zero final velocity is assigned to the team, the communication between agents is intermittent and subject to varying delays and possible packet loss, and under a directed interconnection graph that contains a spanning tree. In addition, this control scheme extends the work in Wang (2013) to the case of intermittent and delayed communication without using a centralized information on the interconnection topology.…”

Section: Corollary 2 Consider the Network Of N Euler-lagrange Systemmentioning

confidence: 87%

“…In addition to constant delays, a virtual systems approach has been suggested in Tayebi (2011b, 2013) to account for input saturations and remove the requirements of velocity measurements. Control schemes that consider time-varying communication delays have also been proposed for some second-order nonlinear multi-agent systems in Tayebi (2011a, 2013); Abdessameud, Tayebi, and Polushin (2012) ;Erdong, Xiaolei, and Zhaowei (2008); Nuño, Sarras, and Basañez (2013), in the case of undirected interconnection graphs, and in Abdessameud, Polushin, and Tayebi (2014a) in the case of more general directed interconnection topologies.…”

Section: Introductionmentioning

confidence: 99%

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Synchronization of nonlinear systems with communication delays and intermittent information exchange

2015

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Section: Corollary 2 Consider the Network Of N Euler-lagrange Systemmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 99%

Synchronization of nonlinear systems with communication delays and intermittent information exchange

2015

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“…Both Theorem 2 above and [Theorem 1 Abdessameud et al, 2014] are special cases of a more general result given in Polushin et al [2013].…”

Section: Definitions and Preliminary Resultsmentioning

confidence: 89%

“…Theorem 2 is a version of [Theorem 1 Abdessameud et al, 2014]; in particular, the proof follows the same lines and, therefore, is omitted. Both Theorem 2 above and [Theorem 1 Abdessameud et al, 2014] are special cases of a more general result given in Polushin et al [2013].…”

Section: Definitions and Preliminary Resultsmentioning

confidence: 99%

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Synchronization of Heterogeneous Euler-Lagrange Systems with Time Delays and Intermittent Information Exchange

Abdessameud

Polushin

Tayebi

2014

IFAC Proceedings Volumes

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Consensus for constrained multi‐agent systems with input saturation

Lyu

Qin

Dai

et al. 2015

Intl J Robust & Nonlinear

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The consensus problem for multi-agent systems with input saturation is addressed in this paper. For agents with double-integrator dynamics, we first propose two consensus algorithms, respectively, for the cases with and without velocity measurements. Based on graph theory, homogeneous method and the Lyapunov stability theory, it is proved that the proposed algorithms can guarantee not only the state agreement in finite time for all the agents but also the input saturation requirement. Then, the obtained results and techniques are extended to the finite-time consensus problem for multiple mechanical systems. Numerical simulations are finally provided to verify the effectiveness of the theoretical results. neighbors of each agent are known a priori. This could be a dilemma especially when the communication scale is large, and the control input limitation is small for each agent. To solve this problem, the authors in [12] propose a consensus algorithm based on a high-order dynamic auxiliary system, which guarantees that the control input of each agent can be a priori bounded regardless of the number of its neighbors. The aforementioned works are concerned with the asymptotic convergence issue and thus cannot guarantee finite-time consensus, which, in some cases, are more desirable because of many practical and theoretical reasons [13]. Many efforts have been made towards solving finite-time consensus problems for multi-agent systems [14,15]. Although a bounded finitetime consensus algorithm is proposed in [16] to achieve the leader-following consensus behavior, the method proposed therein, however, does not work for the leaderless framework as considered in our work.On the other hand, consensus for nonlinear multi-agent systems, especially the multiple mechanical systems whose dynamics can be modeled by Euler-Lagrange equations, has also received great interest in the control community. As compared with linear multi-agent systems, consensus problem for multiple Lagrangian systems appears to be technically more challenging due mainly to the nonlinearity in the system dynamics. The authors in [17] investigate the adaptive consensus algorithms for networked Euler-Lagrange systems with coupling time delay and switching topology, while [18] considers the distributed coordination problem for multiple Lagrangian systems in the presence of parametric uncertainties. In [19], the adaptive consensus problem of networked mechanical systems with time varying delay and jointly connected topologies is investigated. In [20], the continuous coordinated tracking control algorithms of multiple heterogeneous Lagrange systems are proposed. The synchronization problem of networked Euler-Lagrange systems with unknown parameters and communication delays is addressed in [21]. In [22], the finite-time tracking algorithms are proposed for the networked Lagrange systems in the presence of bounded model uncertainties and external disturbances. None of the above-mentioned works consider the consensus with input saturation constraints, which in f...

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Synchronization of Lagrangian Systems With Irregular Communication Delays

Cited by 114 publications

References 21 publications

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Synchronization of Heterogeneous Euler-Lagrange Systems with Time Delays and Intermittent Information Exchange

Consensus for constrained multi‐agent systems with input saturation

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