Research On The Consistency Of Networked Euler-lagrange Systems With Uncertain Communication

Research on consistency of multi-agent has been a hot research topic in the field of science and engineering control. The agent dynamics can be described by first-order model, second-order model, high-order model and Euler-Lagrange equation and so on, among which the most complex is Euler-Lagrange equation, because Euler-Lagrange equation is strongly nonlinear. The individual of multi-agent system needs information interaction through network, otherwise, there exist many uncertainties in the communication networks.Therefore, the study of networked multi Euler-Lagrange systems consistency is rather challenging. In addition, the network Euler-Lagrange systems has a strong practical significances in the field of engineering. There are a large number of dynamic systems which can be described by the Euler-Lagrange equation in project, such as mechanical arm, spacecraft, robots and so on.This paper mainly studies the consistency problem of networked Euler-Lagrange system under the condition of uncertain communication. The main work of this paper can be summarized as follows:Firstly, it studies the consistency problem of Euler-Lagrange systems under directed networked switching topology. Under the real environment, the communication network is often subject to disturbance or the communication distance will change, so some links in the network may be disconnected or connected, that is to say, the network topology will change. In addition,information loss in the network can also be simplified as the switching communication topology.Considering the directional switching of the system dynamics in the unknown parameters and the network topology, this paper presents a kind of adaptive control structure,realizes the distributed consistent control of networked Euler Lagrange systems with the leader. It does not require the communication topology has been connected, allowing the communication topology is disconnected at any instant. Finally, it verifies the effectiveness of the control law by the consistency simulation of a network of 4 mechanical arms.Secondly, it studies the consistency problem of networked multi Euler-Lagrange systems under the condition of the unknown relative velocity and directed switching topology. In practical application, in order to save cost, space and weight, it will not install the speed sensor. The switching communication topology allows the network to be disconnected at any instant, but it must be jointly connected, and the connected graph has a directed spanning tree. This paper introduces a passive filter to compensate the loss of relative velocity, and presents a distributed controller to realize the consistency of the networked multi Euler-Lagrange systems.Finally, the numerical simulation of networked 4 mechanical arms system shows that the passive filter consistency algorithm proposed in this paper is effective.Thirdly, the consistency problem of directed networked Euler-Lagrange systems with fixed topology is studied in the case of time-varying communication delay and time-varying input delay. In this paper, an adaptive consistency controller is proposed, which allows the communication is subject to time-varying communication delay and input delay, so that the system can achieve consistency control in the fixed topology.Finally,the numerical simulation of networked 4 mechanical arms system shows that the adaptive consistency algorithm proposed in this paper is effective.