Distributed Event-Triggered Flocking Control of Lagrangian Systems
In this letter, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbors. In particular, the proposed controller is distribu...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/261440 |
| Acceso en línea: | http://hdl.handle.net/10261/261440 https://api.elsevier.com/content/abstract/scopus_id/85122069394 |
| Access Level: | acceso abierto |
| Palabra clave: | Event-triggered control Lagrangian systems Flocking |
| Sumario: | In this letter, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbors. In particular, the proposed controller is distributed, since it only depends on the available information of each agent on their own reference frame. In addition, we derive sufficient conditions to avoid Zeno behavior. Numerical simulations are provided to show the effectiveness of the proposed control law. |
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