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Event-Triggered Consensus Control in Euler–Lagrange Systems Subject to Communication Delays and Intermittent Information Exchange

Author

Listed:
  • Yunfeng Ji

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Wei Li

    (Postdoctoral Station of Applied Economics, Fudan University, Shanghai 200433, China
    School of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, China)

  • Gang Wang

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

Abstract

In this paper, we investigate the consensus control problem of Euler–Lagrange systems which can be used to describe the motion of various mechanical systems such as manipulators and quadcopters. We focus on consensus control strategies, which are important for achieving coordinated behavior in multi-agent systems. The paper considers the key challenges posed by random communication delays and packet losses that are increasingly common in networked control systems. In addition, it is assumed that each system receives information from neighboring agents intermittently. Addressing these challenges is critical to ensure the reliability and efficiency of such systems in real-world applications. Communication delay is time-varying and can be very large, but should be smaller than some bounded constant. To decrease the frequency of control input updates, we implement an event-triggered scheme that regulates the controller’s updates for each agent. Specifically, it does not update control inputs at traditional fixed intervals, but responds to predefined conditions and introduces a dynamic consensus item to handle information irregularities caused by communication delays and intermittent information exchange. The consensus can be achieved if the communication graph of agents contains a spanning tree with the desired velocity as the root node. That is, all Euler–Lagrange systems need to obtain the desired velocity, directly or indirectly (via neighbors), to reach consensus. We establish that the Zeno behavior can be avoided, ensuring a positive minimum duration between successive event-triggered instances. Finally, we provide simulation results to show the performance of our proposed algorithm.

Suggested Citation

  • Yunfeng Ji & Wei Li & Gang Wang, 2024. "Event-Triggered Consensus Control in Euler–Lagrange Systems Subject to Communication Delays and Intermittent Information Exchange," Mathematics, MDPI, vol. 12(7), pages 1-11, March.
  • Handle: RePEc:gam:jmathe:v:12:y:2024:i:7:p:942-:d:1362208
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    References listed on IDEAS

    as
    1. Yunfeng Ji & Gang Wang & Qingdu Li & Chaoli Wang, 2022. "Event-Triggered Optimal Consensus of Heterogeneous Nonlinear Multi-Agent Systems," Mathematics, MDPI, vol. 10(23), pages 1-14, December.
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