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Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach

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Abstract

Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler- Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.

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Authors and Affiliations

  1. State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, 100871, China

    Na Huang, ZhiSheng Duan & Yu Zhao

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  1. Na Huang
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  2. ZhiSheng Duan
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  3. Yu Zhao
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Correspondence to ZhiSheng Duan.

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Huang, N., Duan, Z. & Zhao, Y. Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach. Sci. China Technol. Sci. 59, 33–44 (2016). https://doi.org/10.1007/s11431-015-5987-9

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  • DOI: https://doi.org/10.1007/s11431-015-5987-9

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