文献类型：期刊文献

英文题名：Event-Triggered Formation Control for a Class of Uncertain Euler-Lagrange Systems: Theory and Experiment

作者：Jin, Xin[1];Tang, Yang[1];Shi, Yang[2];Zhang, Wenle[1];Du, Wei[1]

机构：[1]East China Univ Sci & Technol, Minist Educ, Key Lab Adv Control & Optimizat Chem Proc, Shanghai 200237, Peoples R China;[2]Univ Victoria, Dept Mech Engn, Victoria, BC V8W 2Y2, Canada

年份：2022

卷号：30

期号：1

起止页码：336

外文期刊名：IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

收录：;EI(收录号：20210809949006);WOS:【SCI-EXPANDED(收录号:WOS:000730508400027)】；

基金：This work was supported in part by the National Natural Science Foundation of China for Distinguished Young Scholars under Grant 61725301, in part by the National Natural Science Foundation of China under Grant 61673176 and Grant 61806079, in part by the Program of Shanghai Academic Research Leader under Grant 20XD1401300, and in part by the Programme of Introducing Talents of Discipline to Universities (the 111 Project) under Grant B17017.

语种：英文

外文关键词：Protocols; Directed graphs; Topology; Time-varying systems; Symmetric matrices; Multi-agent systems; Laplace equations; Directed graphs; Euler-Lagrange systems; event-triggered; formation control

摘要：A distributed event-triggered protocol is proposed to deal with the time-varying formation control problem of Euler-Lagrange systems with uncertain model parameters in this research. By utilizing the small-gain theorem and matrix transformation, we show the input-output stability of the closed-loop cascade system with Euler-Lagrange dynamics. An event-triggered condition (ETC) is designed by only using the local information of each agent, which avoids the continuous communication in the event detection and excludes the Zeno behavior. Finally, the proposed methods are applied to the practical flight platform for quadrotors. The experiment using three quadrotors in the outdoor environment is demonstrated to test the effectiveness of the formation protocol.