Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays

doi:10.1088/1674-1056/26/6/068703

中国物理B ›› 2017, Vol. 26 ›› Issue (6): 68703-068703.doi: 10.1088/1674-1056/26/6/068703

• INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY • 上一篇下一篇

Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays

Liang-ming Chen(陈亮名), Chuan-jiang Li(李传江), Yan-chao Sun(孙延超), Guang-fu Ma(马广富)

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

收稿日期:2016-12-22 修回日期:2017-02-14 出版日期:2017-06-05 发布日期:2017-06-05
通讯作者: Yan-chao Sun E-mail:sunyanchao@hit.edu.cn
基金资助:
Project supported by the National Natural Science Foundation of China (Grant Nos. 61304005, 61403103, 61673135, and 61603114).

Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays

Liang-ming Chen(陈亮名), Chuan-jiang Li(李传江), Yan-chao Sun(孙延超), Guang-fu Ma(马广富)

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2016-12-22 Revised:2017-02-14 Online:2017-06-05 Published:2017-06-05
Contact: Yan-chao Sun E-mail:sunyanchao@hit.edu.cn
Supported by:
Project supported by the National Natural Science Foundation of China (Grant Nos. 61304005, 61403103, 61673135, and 61603114).

摘要/Abstract

摘要： This paper investigates the cooperative formation problem via impulsive control for a class of networked Euler-Lagrange systems. To reduce the energy consumption and communication frequency, the impulsive control method and cooperative formation control approach are combined. With the consideration of system uncertainties and communication delays among agents, neural networks-based adaptive technique is used for the controller design. Firstly, under the constraint that each agent interacts with its neighbors only at some sampling moments, an adaptive neural-networks impulsive formation control algorithm is proposed for the networked uncertain Euler-Lagrange systems without communication delays. Using Lyapunov stability theory and Laplacian potential function in the graph theory, we conclude that the formation can be achieved by properly choosing the constant control gains. Further, when considering communication delays, a modified impulsive formation control algorithm is proposed, in which the extended Halanay differential inequality is used to analyze the stability of the impulsive delayed dynamical systems. Finally, numerical examples and performance comparisons with continuous algorithm are provided to illustrate the effectiveness of the proposed methods.

关键词: formation control, multi-agent systems, impulsive control, Euler-Lagrange system

Abstract: This paper investigates the cooperative formation problem via impulsive control for a class of networked Euler-Lagrange systems. To reduce the energy consumption and communication frequency, the impulsive control method and cooperative formation control approach are combined. With the consideration of system uncertainties and communication delays among agents, neural networks-based adaptive technique is used for the controller design. Firstly, under the constraint that each agent interacts with its neighbors only at some sampling moments, an adaptive neural-networks impulsive formation control algorithm is proposed for the networked uncertain Euler-Lagrange systems without communication delays. Using Lyapunov stability theory and Laplacian potential function in the graph theory, we conclude that the formation can be achieved by properly choosing the constant control gains. Further, when considering communication delays, a modified impulsive formation control algorithm is proposed, in which the extended Halanay differential inequality is used to analyze the stability of the impulsive delayed dynamical systems. Finally, numerical examples and performance comparisons with continuous algorithm are provided to illustrate the effectiveness of the proposed methods.

Key words: formation control, multi-agent systems, impulsive control, Euler-Lagrange system

中图分类号: (Control theory and feedback)

87.19.lr

02.30.Yy (Control theory) 45.80.+r (Control of mechanical systems)

陈亮名, 李传江, 孙延超, 马广富. Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays[J]. 中国物理B, 2017, 26(6): 68703-068703.

Liang-ming Chen(陈亮名), Chuan-jiang Li(李传江), Yan-chao Sun(孙延超), Guang-fu Ma(马广富). Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays[J]. Chin. Phys. B, 2017, 26(6): 68703-068703.

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Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays

Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays

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