Synchronization of Uncertain Euler–Lagrange Systems With Uncertain Time-Varying Communication Delays

Klotz, Justin R.; Obuz, Serhat; Kan, Zhen; Dixon, Warren E.

doi:10.1109/tcyb.2017.2657541

Cited by 43 publications

(21 citation statements)

References 53 publications

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“…Therefore, it is important to maintain the stability of MGC under the fixed delay and random delay scenarios. The open communication infrastructures, such as Ethernet, WiMAX and Wi-Fi networks can be used to realize the communications of smart grid gradually [78][79][80][81][82]. However, the measurement and control signals may be delayed or lost in the transmission channels.…”

Section: Analysis Of Communication Delay and Switching Topologiesmentioning

confidence: 99%

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MAS-Based Distributed Coordinated Control and Optimization in Microgrid and Microgrid Clusters: A Comprehensive Overview

Han

Zhang

et al. 2018

IEEE Trans. Power Electron.

343

182

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Abstract-The increasing integration of the distributed renewable energy sources highlights the requirement to design various control strategies for microgrids (MGs) and microgrid clusters (MGCs). The multi-agent system (MAS)-based distributed coordinated control strategies shows the benefits to balance the power and energy, stabilize voltage and frequency, achieve economic and coordinated operation among the MGs and MGCs. However, the complex and diverse combinations of distributed generations in multi-agent system increase the complexity of system control and operation. In order to design the optimized configuration and control strategy using MAS, the topology models and mathematic models such as the graph topology model, non-cooperative game model, the genetic algorithm and particle swarm optimization algorithm are summarized. The merits and drawbacks of these control methods are compared. Moreover, since the consensus is a vital problem in the complex dynamical systems, the distributed MAS-based consensus protocols are systematically reviewed. NOMENCLATURE

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Section: Analysis Of Communication Delay and Switching Topologiesmentioning

confidence: 99%

“…As the open communication infrastructures, Ethernet, worldwide interoperability for microwave access (WiMAX) and wireless fidelity (Wi-Fi) can be used for communication links of smart grid [78][79][80][81]. Each layer in hierarchical usually performs its own tasks independently, and interact with others via communication channels.…”

Section: Introductionmentioning

confidence: 99%

MAS-Based Distributed Coordinated Control and Optimization in Microgrid and Microgrid Clusters: A Comprehensive Overview

Han

Zhang

et al. 2018

IEEE Trans. Power Electron.

343

182

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“…Suppose that Assumptions 1 and 3 hold. Set the desired potential energy d  (q + q c , ), in (13), as…”

Section: The Leaderless Casementioning

confidence: 99%

“…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%

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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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Distributed formation‐containment control with Euler‐Lagrange systems subject to input saturation and communication delays

Silva

Souza

Pimenta

2020

Intl J Robust & Nonlinear

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This paper is concerned with the problem of formation-containment on networked systems, with interconnected systems modeled by the Euler-Lagrange equation with bounded inputs and time-varying delays on the communication channels. The main results are the design of control algorithms and sufficient conditions to ensure the convergence of the network. The control algorithms are designed as distributed dynamic controllers, in such a way that the number of neighbors of each agent is decoupled from the bound of the control inputs. That is, in the proposed approach the amplitude of the input signal does not directly increase with the number of neighbors of each agent. The proposed sufficient conditions for the asymptotic convergence follow from the Lyapunov-Krasovskii theory and are formulated in the linear matrix inequalities framework. The conditions rely only on the upper bound of delays and on a subset of the controller parameters, but they do not depend on the model of each agent, which makes it suitable for networks with agents governed by distinct dynamics. In order to illustrate the effectiveness of the proposed method we present numerical examples and compare with similar approaches existing in the literature. K E Y W O R D S Communication delays, Euler-Lagrange systems, formation-containment, input saturation 1 Int J Robust Nonlinear Control. 2020;30:2999-3022. wileyonlinelibrary.com/journal/rnc• the formation-containment is approached taking into account communication delays among agents and input saturation simultaneously, which to the best of authors' knowledge it is a scenario that has not yet been addressed on the literature. Additionally, the proposed distributed control strategy does not depend on the knowledge of the agents inertia matrix nor the Coriolis forces, it also does not rely on the neighbors velocity information. This reduces the communication burden on the network and provides a robust control strategy.Secondly, considering the consensus, a particular case of the main problem investigated in this manuscript, and comparing with those from the literature that primarily study consensus under similar conditions, the following contributions can also be highlighted:• input saturation was previously studied in the context of consensus problem in References 19 and 45, but with some important distinctions from our approach, namely: (a) we now propose a strategy to deal with the input saturation and communication delays simultaneously, (b) different from Reference 45 our dynamic controller does not rely on the knowledge of inertia nor Coriolis matrices and, (c) in contrast with both approaches, as mentioned above, the control strategy proposed here does not depend on relative velocity measurements;• regarding the communication delays among agents, it is noteworthy that the results of Nuño and collaborators 20,21,37,46 seem to contribute with the most notorious conditions on communication delays on the consensus of networked Euler-Lagrange systems. For example, the results in References 33 and 34 hand...

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Synchronization of Uncertain Euler–Lagrange Systems With Uncertain Time-Varying Communication Delays

Cited by 43 publications

References 53 publications

MAS-Based Distributed Coordinated Control and Optimization in Microgrid and Microgrid Clusters: A Comprehensive Overview

MAS-Based Distributed Coordinated Control and Optimization in Microgrid and Microgrid Clusters: A Comprehensive Overview

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

Distributed formation‐containment control with Euler‐Lagrange systems subject to input saturation and communication delays

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