Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange

Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper studies the synchronization problem of networked uncertain Euler-Lagrange systems with intermittent communication in the presence of irregular communication delays and possible information loss. The interconnection between agents is described by a directed graph containing a spanning tree. Based on the small-gain framework, we propose an adaptive distributed control algorithm to steer all agents' positions to a common position with a prescribed desired velocity available to only some leaders. The communication between agents is intermittent in the sense that neighboring agents exchange their information in a discrete manner with possible packet dropout. Numerical simulation is provided to demonstrate the effectiveness of the proposed synchronization scheme.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsXiaohua Xia, Edward Boje
PublisherIFAC Secretariat
Pages1971-1976
Number of pages6
ISBN (Electronic)9783902823625
StatePublished - Jan 1 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

Fingerprint

Time delay
Synchronization
Communication
Directed graphs
Computer simulation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Abdessameud, A., Polushin, I. G., & Tayebi, A. (2014). Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange. In X. Xia, & E. Boje (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 1971-1976). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat.
Abdessameud, Abdelkader ; Polushin, Ilia G. ; Tayebi, Abdelhamid. / Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange. 19th IFAC World Congress IFAC 2014, Proceedings. editor / Xiaohua Xia ; Edward Boje. IFAC Secretariat, 2014. pp. 1971-1976 (IFAC Proceedings Volumes (IFAC-PapersOnline)).
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Abdessameud, A, Polushin, IG & Tayebi, A 2014, Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange. in X Xia & E Boje (eds), 19th IFAC World Congress IFAC 2014, Proceedings. IFAC Proceedings Volumes (IFAC-PapersOnline), vol. 19, IFAC Secretariat, pp. 1971-1976, 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 8/24/14.

Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange. / Abdessameud, Abdelkader; Polushin, Ilia G.; Tayebi, Abdelhamid.

19th IFAC World Congress IFAC 2014, Proceedings. ed. / Xiaohua Xia; Edward Boje. IFAC Secretariat, 2014. p. 1971-1976 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abdessameud A, Polushin IG, Tayebi A. Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange. In Xia X, Boje E, editors, 19th IFAC World Congress IFAC 2014, Proceedings. IFAC Secretariat. 2014. p. 1971-1976. (IFAC Proceedings Volumes (IFAC-PapersOnline)).