Second-order bipartite consensus for networked robotic systems with quantized-data interactions and time-varying transmission delays

Teng-Fei Ding; Ming-Feng Ge; Cai-Hua Xiong; Ju H Park; Min Li

doi:10.1016/j.isatra.2020.08.026

Second-order bipartite consensus for networked robotic systems with quantized-data interactions and time-varying transmission delays

ISA Trans. 2021 Feb:108:178-187. doi: 10.1016/j.isatra.2020.08.026. Epub 2020 Aug 21.

Authors

Teng-Fei Ding¹, Ming-Feng Ge², Cai-Hua Xiong³, Ju H Park⁴, Min Li⁵

Affiliations

¹ School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China. Electronic address: dingtf@cug.edu.cn.
² School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China. Electronic address: gemf@cug.edu.cn.
³ State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. Electronic address: chxiong@hust.edu.cn.
⁴ Department of Electrical Engineering, Yeungnam University, 280 Daehak-Ro, Kyongsan 38541, Republic of Korea. Electronic address: jessie@ynu.ac.kr.
⁵ School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China. Electronic address: minli@cug.edu.cn.

PMID: 32861479
DOI: 10.1016/j.isatra.2020.08.026

Abstract

This paper investigates the second-order bipartite consensus (BC) problems for networked robotic systems (NRSs) subject to model uncertainties and external disturbances over signed directed graphs. We have newly presented two classes of hierarchical control algorithms (HCAs) to solve the BC problems for NRSs in a more practical and challenging case of quantized-data interactions (QDIs) and time-varying transmission delays (TVTDs). By using Hurwitz criterion and Lyapunov stability argument, several sufficient conditions on control parameters are obtained and the BC performance of the regulated system is analyzed. Three examples validate the presented theoretical findings.

Keywords: Hierarchical control algorithms (HCAs); Networked robotic systems (NRSs); Quantized-data interactions (QDIs); Second-order bipartite consensus; Time-varying transmission delays (TVTDs).