Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays

E Aranda-Escolástico; L J Colombo; M Guinaldo

doi:10.1016/j.isatra.2021.01.048

Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays

ISA Trans. 2021 Nov:117:139-149. doi: 10.1016/j.isatra.2021.01.048. Epub 2021 Feb 6.

Authors

E Aranda-Escolástico¹, L J Colombo², M Guinaldo³

Affiliations

¹ Department of Software and Systems Engineering, Universidad Nacional de Educación a Distancia (UNED), Madrid, Spain. Electronic address: earandae@issi.uned.es.
² Instituto de Ciencias Matemáticas, Consejo Superior de Investigaciones Científicas, Madrid, Spain.
³ Department of Informatics and Automatics, Universidad Nacional de Educación a Distancia (UNED), Madrid, Spain.

PMID: 33593487
DOI: 10.1016/j.isatra.2021.01.048

Abstract

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.

Keywords: Event-triggered control; Lagrangian systems; Multi-agent systems; Shape control.