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 Scopus citations

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
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages1971-1976
Number of pages6
ISBN (Electronic)9783902823625
DOIs
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

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Abdessameud, A., Polushin, I. G., & Tayebi, A. (2014). Synchronization of heterogeneous Euler-Lagrange systems with time delays and intermittent information exchange. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 1971-1976). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.01777