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...

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Detalles Bibliográficos
Autores: Aranda Escolástico, Ernesto, Colombo, Leonardo, Guinaldo Losada, María
Tipo de recurso: artículo
Fecha de publicación:2021
País:España
Institución:Universidad Nacional de Educación a Distancia
Repositorio:e-spacio. Repositorio Institucional de la UNED
Idioma:inglés
OAI Identifier:oai:e-spacio.uned.es:20.500.14468/23910
Acceso en línea:https://hdl.handle.net/20.500.14468/23910
Access Level:acceso abierto
Palabra clave:33 Ciencias Tecnológicas
event-triggered control
shape control
multi-agent systems
lagrangian systems
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spelling Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delaysAranda Escolástico, ErnestoColombo, LeonardoGuinaldo Losada, María33 Ciencias Tecnológicasevent-triggered controlshape controlmulti-agent systemslagrangian systemsWe 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.ELSEVIERhttps://orcid.org/0000-0001-6493-6113e-Spacio UNED20242024-10-0420212021-01-0120212021-01-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/20.500.14468/23910reponame:e-spacio. Repositorio Institucional de la UNEDinstname:Universidad Nacional de Educación a DistanciaInglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.esoai:e-spacio.uned.es:20.500.14468/239102026-06-06T12:38:31Z
dc.title.none.fl_str_mv Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
title Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
spellingShingle Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
Aranda Escolástico, Ernesto
33 Ciencias Tecnológicas
event-triggered control
shape control
multi-agent systems
lagrangian systems
title_short Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
title_full Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
title_fullStr Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
title_full_unstemmed Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
title_sort Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
dc.creator.none.fl_str_mv Aranda Escolástico, Ernesto
Colombo, Leonardo
Guinaldo Losada, María
author Aranda Escolástico, Ernesto
author_facet Aranda Escolástico, Ernesto
Colombo, Leonardo
Guinaldo Losada, María
author_role author
author2 Colombo, Leonardo
Guinaldo Losada, María
author2_role author
author
dc.contributor.none.fl_str_mv https://orcid.org/0000-0001-6493-6113
e-Spacio UNED
dc.subject.none.fl_str_mv 33 Ciencias Tecnológicas
event-triggered control
shape control
multi-agent systems
lagrangian systems
topic 33 Ciencias Tecnológicas
event-triggered control
shape control
multi-agent systems
lagrangian systems
description 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.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-01-01
2021
2021-01-01
2024
2024-10-04
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14468/23910
url https://hdl.handle.net/20.500.14468/23910
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv ELSEVIER
publisher.none.fl_str_mv ELSEVIER
dc.source.none.fl_str_mv reponame:e-spacio. Repositorio Institucional de la UNED
instname:Universidad Nacional de Educación a Distancia
instname_str Universidad Nacional de Educación a Distancia
reponame_str e-spacio. Repositorio Institucional de la UNED
collection e-spacio. Repositorio Institucional de la UNED
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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