Twisting-based finite-time consensus for Euler-Lagrange systems with an 
event-triggered strategy

Jin, Xin; Wei, Du; He, Wangli; Kocarev, Ljupco; Tang, Yang; Kurths, Jürgen

doi:10.1109/TNSE.2019.2900264

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学術論文

Twisting-based finite-time consensus for Euler-Lagrange systems with an event-triggered strategy

Authors

Jin, Xin
External Organizations;

Wei, Du
External Organizations;

He, Wangli
External Organizations;

Kocarev, Ljupco
External Organizations;

Tang, Yang
External Organizations;

/persons/resource/Juergen.Kurths

Kurths, Jürgen
Potsdam Institute for Climate Impact Research;

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引用

Jin, X., Wei, D., He, W., Kocarev, L., Tang, Y., & Kurths, J. (2020). Twisting-based finite-time consensus for Euler-Lagrange systems with an event-triggered strategy. IEEE Transactions on Network Science and Engineering, 7(3), 1007-1018. doi:10.1109/TNSE.2019.2900264.

引用: https://publications.pik-potsdam.de/pubman/item/item_24716

要旨

In this paper, a twisting-based consensus algorithm is put forward to deal with the event-triggered finite-time consensus for networked Lagrangian systems with directed graphs. First, a fully distributed event-triggered finite-time protocol is considered, for which we can show that each agent can achieve the consensus after a settling time. In order to remove the requirement of continuous monitoring, a pull-based triggering mechanism is employed. Simultaneously, the Zeno-behavior can be excluded under a finite-time dynamic condition. Then, due to the advantages of non-chattering behaviors and finite-time convergence, a twisting-based consensus algorithm based on homogeneous techniques is developed to drive the Euler-Lagrange systems to the consensus value in a settling time. By means of Pólya's theorem and Sum of Squares tools, a polynomial Lyapunov function is constructed to verify our criteria. At last, we give a numerical example for 2-DOF prototype manipulators to verify the validity of the theoretical results.