文献类型：期刊文献

英文题名：Twisting-Based Finite-Time Consensus for Euler-Lagrange Systems With an Event-Triggered Strategy

作者：Jin, Xin[1];Du, Wei[1];He, Wangli[1];Kocarev, Ljupco[2,3,4];Tang, Yang[1];Kurths, Juergen[5,6,7]

机构：[1]East China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Minist Educ, Shanghai 200237, Peoples R China;[2]Macedonian Acad Sci & Arts, Skopje 1000, North Macedonia;[3]Univ Sv Kiril & Metodij, Fac Comp Sci & Engn, Skopje 1000, North Macedonia;[4]Univ Calif San Diego, BioCircuits Inst, La Jolla, CA 92093 USA;[5]Potsdam Inst Climate Impact Res, Potsdam, Germany;[6]Humboldt Univ, Inst Phys, D-10099 Berlin, Germany;[7]Saratov NG Chernyshevskii State Univ, Saratov 410000, Russia

年份：2020

卷号：7

期号：3

起止页码：1007

外文期刊名：IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING

收录：;EI(收录号：20190906557769);WOS:【SCI-EXPANDED(收录号:WOS:000566353500007)】；

基金：This work was supported in part by the National Key Research and Development Program of China under Grant 2018YFC0809302, in part by the National Natural Science Foundation of China under Grant Nos. 61751305, Grant 61673176, Grant 61773163 and Natural Science Foundation of Shanghai (17ZR1444600), in part by Shanghai Rising-Star Program (18QA1401400), in part by the Programme of Introducing Talents of Discipline to Universities (the 111 Project) under Grant B17017, in part by Project for Chinese-Macedonian Scientific and Technological Cooperation, and in part by the Alexander von Humboldt Foundation of Germany. Recommended for acceptance by M. Porter.

语种：英文

外文关键词：Protocols; Consensus algorithm; Multi-agent systems; Laplace equations; Manipulators; Mathematical model; Eigenvalues and eigenfunctions; Twisting control; finite-time consensus; event-triggered; Euler-Lagrange systems

摘要：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 Polya'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.