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Neural-network-based consensus of multiple Euler-Lagrange systems with an event-triggered mechanism
Li, Sheng1; Zou, Wencheng2; Xiang, Zhengrong1
2021-10-01
Source PublicationJournal of the Franklin Institute
ISSN0016-0032
Volume358Issue:16Pages:8625-8638
Abstract

This paper addresses the consensus problem for a class of multiple Euler-Lagrange systems, where agents communicate with neighbors under an event-triggered mechanism. Due to the more complex dynamical characteristics, the consensus problem of multiple Euler-Lagrange systems is more challenging than that of ordinary second-order multi-agent systems. In this study, we assume that the inertia matrix, the Coriolis and centrifugal term, and the gravitational torque are totally unknown, then a protocol is derived by integrating the Lyapunov functional method, neural network approximation and adaptive control techniques. In addition, the event-triggered mechanism effectively reduces the communication traffic, and the Zeno behavior is well excluded. By a demonstrative example, the effectiveness of the protocol is illustrated.

DOI10.1016/j.jfranklin.2021.08.033
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS IDWOS:000708171700002
Scopus ID2-s2.0-85115185722
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Citation statistics
Document TypeJournal article
CollectionTHE STATE KEY LABORATORY OF INTERNET OF THINGS FOR SMART CITY (UNIVERSITY OF MACAU)
Corresponding AuthorLi, Sheng; Xiang, Zhengrong
Affiliation1.School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China
2.State Key Laboratory of Internet of Things for Smart City, University of Macau, Taipa, 999078, Macao
Recommended Citation
GB/T 7714
Li, Sheng,Zou, Wencheng,Xiang, Zhengrong. Neural-network-based consensus of multiple Euler-Lagrange systems with an event-triggered mechanism[J]. Journal of the Franklin Institute, 2021, 358(16), 8625-8638.
APA Li, Sheng., Zou, Wencheng., & Xiang, Zhengrong (2021). Neural-network-based consensus of multiple Euler-Lagrange systems with an event-triggered mechanism. Journal of the Franklin Institute, 358(16), 8625-8638.
MLA Li, Sheng,et al."Neural-network-based consensus of multiple Euler-Lagrange systems with an event-triggered mechanism".Journal of the Franklin Institute 358.16(2021):8625-8638.
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