Consensus Of Multiple Euler-Lagrange Systems By Non-uniform Sampling Information Exchanges

In recent years,most studies on the consensus of multi-agent systems have focused on linear systems.There are a lot of complex nonlinear and strong coupling systems in practical application that need to be described.The nonlinear Euler-Lagrange equation is more suitable for describing the dynamic characteristics of the multi-agent systems than other nonlinear system equations,which also makes the consensus problems of Euler-Lagrange systems more and more attention and obtain some results.It's worth noting that the existing research results of EL systems were mostly based on continuous information exchange.However,as an ideal assumption,the establishment of a continuous-time communication network by using existing techniques under long-distance communication and wireless communication conditions is very difficult.In addition,the continuous-time information exchange consumes a large amount of energy and occupies the communication channel all the time.However,each individual of EL systems generally has limited energy.For the sake of energy efficiency,continuous information exchange has been also not suited to the actual situation.Therefore,it is necessary to design a highly efficient and practical information exchange program.In view of the above problems,this paper presents a non-uniform sampling information exchange mechanism to solve the shortcomings of continuous time information exchange mechanism.On this basis,the problems of unmeasurable velocity information and probability of time-varying transmission delay are analyzed and the studied,respectively.The main research contents are as follows:(1)For the difficulty and high cost of velocity information measurement,a consensus protocol of multiple EL systems based on non-uniform sampling information exchange and existence of unmeasurable velocity information is presented.Discrete-time information exchange can be achieved by using a sample-and-hold mechanism.At the same time,in order to obtain the conditions required to achieve a consensus protocol,we must use algebraic graph theory and stability theory and other related theories.The feasibility of the consensus protocol is proved by the simulation experiment of the attitude synchronization of the two-link manipulator system.(2)On the basis of the above problems,considering that the existence time-delay is present and time-varying in the process of information exchange.At the same time,there is a great relationship between the transmission delay and the external environment.From the practical application point of view,the delay is designed for probabilistic time-varying.In this paper,consensus of multiple EL systems based on non-uniform sampling information exchanges with probabilistic time-varying transmission delay is presented.In order to verify the correctness and applicability of the consensus protocol,this paper presents a simulation example of the attitude synchronization of the two-link manipulator.