Publicación: Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
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2021
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info:eu-repo/semantics/openAccess
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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.
Descripción
The registered version of this article, first published in “ISA Transactions 117, 139-149", is available online at the publisher's website: Elsevier, https://doi.org/10.1016/j.isatra.2021.01.048
La versión registrada de este artículo, publicado por primera vez en “ISA Transactions 117, 139-149", está disponible en línea en el sitio web del editor: Elsevier, https://doi.org/10.1016/j.isatra.2021.01.048
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Palabras clave
event-triggered control, shape control, multi-agent systems, lagrangian systems
Citación
E. Aranda-Escolástico, L.J. Colombo, M. Guinaldo, Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays, ISA Transactions, Volume 117, 2021, Pages 139-149, ISSN 0019-0578, https://doi.org/10.1016/j.isatra.2021.01.048.
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Facultades y escuelas
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Ingeniería de Software y Sistemas Informáticos