Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach

This paper studies the sampled-data consensus of networked Euler-Lagrange systems. The sampled-data feedback causes infinities at sampling instants in the control input due to the differentiation of the feedback by the conventional control law designed for Euler-Lagrange systems. Although directly r...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Yilin Wang, Shuanghe Yu, Chengpeng Li, Xinjian Xiang, Yantai Huang
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Euler-Lagrange system multi-agent system small-gain theorem sampled-data control Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/4f1a9323e49846b9af4dd7c00f661baf
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:4f1a9323e49846b9af4dd7c00f661baf
record_format	dspace
spelling	oai:doaj.org-article:4f1a9323e49846b9af4dd7c00f661baf2021-12-02T00:00:15ZSampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach2169-353610.1109/ACCESS.2021.3128949https://doaj.org/article/4f1a9323e49846b9af4dd7c00f661baf2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9618961/https://doaj.org/toc/2169-3536This paper studies the sampled-data consensus of networked Euler-Lagrange systems. The sampled-data feedback causes infinities at sampling instants in the control input due to the differentiation of the feedback by the conventional control law designed for Euler-Lagrange systems. Although directly removing the differentiation term from the control law may completely avoid the infinity problem, the overall dynamics are also vastly altered. A problem with this method is that its Lyapunov function of the auxiliary variable may increase at sampling instants, making Lyapunov analysis unviable. To address this problem, the interactions between the auxiliary variable and the states are re- analyzed under the new control law, converting the sampled-data consensus problem into the stability of two interconnected subsystems of states and auxiliary variables, respectively. By a modified discrete small gain analysis, the subsystems are proved to be asymptotically stable under a discrete-time small-gain condition, and the consensus of the networked Euler-Lagrange Systems thus follows. It is shown that despite the individual Lyapunov functions for the states and auxiliary variables might not be strictly decreasing, consensus of the overall system is still guaranteed under the small-gain consensus condition.Yilin WangShuanghe YuChengpeng LiXinjian XiangYantai HuangIEEEarticleEuler-Lagrange systemmulti-agent systemsmall-gain theoremsampled-data controlElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 156548-156555 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Euler-Lagrange system multi-agent system small-gain theorem sampled-data control Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Euler-Lagrange system multi-agent system small-gain theorem sampled-data control Electrical engineering. Electronics. Nuclear engineering TK1-9971 Yilin Wang Shuanghe Yu Chengpeng Li Xinjian Xiang Yantai Huang Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach
description	This paper studies the sampled-data consensus of networked Euler-Lagrange systems. The sampled-data feedback causes infinities at sampling instants in the control input due to the differentiation of the feedback by the conventional control law designed for Euler-Lagrange systems. Although directly removing the differentiation term from the control law may completely avoid the infinity problem, the overall dynamics are also vastly altered. A problem with this method is that its Lyapunov function of the auxiliary variable may increase at sampling instants, making Lyapunov analysis unviable. To address this problem, the interactions between the auxiliary variable and the states are re- analyzed under the new control law, converting the sampled-data consensus problem into the stability of two interconnected subsystems of states and auxiliary variables, respectively. By a modified discrete small gain analysis, the subsystems are proved to be asymptotically stable under a discrete-time small-gain condition, and the consensus of the networked Euler-Lagrange Systems thus follows. It is shown that despite the individual Lyapunov functions for the states and auxiliary variables might not be strictly decreasing, consensus of the overall system is still guaranteed under the small-gain consensus condition.
format	article
author	Yilin Wang Shuanghe Yu Chengpeng Li Xinjian Xiang Yantai Huang
author_facet	Yilin Wang Shuanghe Yu Chengpeng Li Xinjian Xiang Yantai Huang
author_sort	Yilin Wang
title	Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach
title_short	Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach
title_full	Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach
title_fullStr	Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach
title_full_unstemmed	Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach
title_sort	sampled-data consensus of networked euler-lagrange systems: a discrete small-gain approach
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/4f1a9323e49846b9af4dd7c00f661baf
work_keys_str_mv	AT yilinwang sampleddataconsensusofnetworkedeulerlagrangesystemsadiscretesmallgainapproach AT shuangheyu sampleddataconsensusofnetworkedeulerlagrangesystemsadiscretesmallgainapproach AT chengpengli sampleddataconsensusofnetworkedeulerlagrangesystemsadiscretesmallgainapproach AT xinjianxiang sampleddataconsensusofnetworkedeulerlagrangesystemsadiscretesmallgainapproach AT yantaihuang sampleddataconsensusofnetworkedeulerlagrangesystemsadiscretesmallgainapproach
_version_	1718403982732296192

Sampled-Data Consensus of Networked Euler-Lagrange Systems: A Discrete Small-Gain Approach

Ejemplares similares