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Consensus of Networked Euler-Lagrange Systems under Time-Varying Sampled-Data Control
School of Mathematical Sciences, Yangzhou University, Jiangsu.
Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai.
Texas A & M University at Qatar.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.ORCID iD: 0000-0003-1902-9877
2017 (English)In: IEEE Transactions on Industrial Informatics, ISSN 1551-3203, E-ISSN 1941-0050Article in journal (Refereed) Epub ahead of print
Abstract [en]

This paper is concerned with the consensus of multiple Euler-Lagrange systems with pulse-width modulated sampled-data control. Different from traditional sampled-data strategies, a pulse-modulated sampled-data strategy is developed to realize the consensus of multiple Euler-lagrange systems, in which a pulse function that can be distinct at different sampling instants is proposed to modulate the sampling interval. In addition, a new definition of average sampling interval, which is parallel to the average dwell time in switching control or average impulsive interval in impulsive control, is proposed to characterize the number of the updating of the sampling controller during some certain interval. The proposed average sampling interval makes our sampled-data strategy more suitable for a wide range of sampling signals. By utilizing the comparison principle, a sufficient criterion is obtained to guarantee the consensus of multiple Euler-Lagrange systems. The sufficient criterion is heavily dependent on the actual control duration time, the upper and lower bounds of the pulse function and the communication graph. Finally, a simulation example is presented to verify the applicability of the proposed results.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017.
National Category
Media and Communication Technology
Research subject
Mobile and Pervasive Computing
Identifiers
URN: urn:nbn:se:ltu:diva-64491DOI: 10.1109/TII.2017.2715843OAI: oai:DiVA.org:ltu-64491DiVA: diva2:1115010
Available from: 2017-06-26 Created: 2017-06-26 Last updated: 2017-11-24

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