Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
We study the problem of periodic event-triggered targeted formation control for multi-agent Lagrangian systems. We assume that the equations of motion of each agent are derived from a Lagrangian function. Besides, each agent has information about a predefined convex set as a targeted set. The goal o...
| Authors: | , , |
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| Format: | article |
| Publication Date: | 2021 |
| Country: | España |
| Institution: | Universidad Nacional de Educación a Distancia |
| Repository: | e-spacio. Repositorio Institucional de la UNED |
| Language: | English |
| OAI Identifier: | oai:e-spacio.uned.es:20.500.14468/23910 |
| Online Access: | https://hdl.handle.net/20.500.14468/23910 |
| Access Level: | Open access |
| Keyword: | 33 Ciencias Tecnológicas event-triggered control shape control multi-agent systems lagrangian systems |
| Summary: | We study the problem of periodic event-triggered targeted formation control for multi-agent Lagrangian systems. We assume that the equations of motion of each agent are derived from a Lagrangian function. Besides, each agent has information about a predefined convex set as a targeted set. The goal of the agents is to achieve the desired formation in the targeted sets, while the information is asynchronously shared by a periodic event-triggering specification, and there is also a time-delay in their communication. A novel distributed control law is proposed for the agents to reach the goal while their velocities are driven to zero. Applications and simulations are provided to validate the theoretical results. |
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