Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7109700 | Automatica | 2015 | 8 Pages |
Abstract
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information losses. The control objective is to steer all agents' positions to a common position with a prescribed desired velocity available only to some leaders. Based on the small-gain framework, we propose a synchronization scheme relying on an intermittent information exchange protocol in the presence of time delays and possible packet dropouts. We show that our control objectives are achieved with a simple selection of the control gains provided that the directed graph, describing the interconnection between agents, contains a spanning tree. An example of Euler-Lagrange systems is considered to illustrate the application and effectiveness of the proposed approach.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi,