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16th IFAC Symposium on Large Scale Complex Systems - Theory and Applications (LSS)

作者： Wei, Minfeng Zang, Yunge Zhang, Fengdi Beijing Inst Technol Beijing Peoples R China Beijing Aerosp Automat Control Inst Beijing Peoples R China Natl Key Lab Sci & Technol Aerosp Intelligence Co Beijing Peoples R China

In this paper, the distributed consensus control of multiple Euler-Lagrange dynamics under digraphs via the dynamic event-triggering mechanism is studied. By designing the upper-level reference model and introducing an auxiliary variable, a novel distributed dynamic event-triggered consensus control protocol is proposed, which allows to separate neighboring information interaction from local dynamics control and thus simplifies the design process. Owing to this treatment, consensus of agents can be reached without continuous state transmission and Zeno behavior. Finally, numerical simulation is given to illustrate the effectiveness of theoretical results. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND License (http://***/licenses/by-nc-nd/4.0/)

关键词： Multi-agent systems Euler-Lagrange dynamics distributed event-triggered consensus control dynamic triggering mechanism

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distributed Dynamic event-triggered consensus control for Multiple Euler-Lagrange Systems under Digraphs

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IFAC-PapersOnLine 2022年第3期55卷 234-239页

作者： Minfeng Wei Yunge Zang Fengdi Zhang Beijing Institute of Technology Beijing China Beijing Aerospace Automatic Control Institute Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China

关键词： Multi-agent systems Euler-Lagrange dynamics distributed event-triggered consensus control dynamic triggering mechanism

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distributed consensus control for networked Euler-Lagrange systems over directed graphs: A dynamic event-triggered approach

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2022年第16期32卷 8786-8803页

作者： Wei, Minfeng Xia, Yuanqing Zhang, Yuan Zhan, Yufeng Cui, Bing Beijing Inst Technol Sch Automat Key Lab Intelligent Control & Decis Complex Syst Beijing 100081 Peoples R China

This paper considers the distributed dynamic event-triggered consensus problem of multi-agent systems with Euler-Lagrange dynamics over directed graphs in the presence of uncertain disturbances. To achieve consensus, a dynamic triggering law is designed such that consensus of reference model can be achieved. Different from the static triggering mechanism, an extra variable is involved in the proposed dynamic triggering law, which benefits the exclusion of the Zeno behavior. Then, an auxiliary variable is introduced to simplify agent dynamics, which benefits the controller design. Based on the auxiliary variable, a local controller is further proposed to guarantee the tracking ability of the auxiliary variable to the reference model. Owing to this treatment, consensus of agents can be reached in the presence of external disturbances. In addition, no continuous communication is needed in either controller updates or triggering detection. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed consensus protocol and its advantage in reducing the communication overhead compared with the relevant static triggering mechanism.

关键词： distributed event-triggered consensus control dynamic triggering mechanism Euler-Lagrange dynamics multi-agent systems

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