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首页> 外文期刊>Industrial Informatics, IEEE Transactions on >A Stochastic Sampling Consensus Protocol of Networked Euler–Lagrange Systems With Application to Two-Link Manipulator
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A Stochastic Sampling Consensus Protocol of Networked Euler–Lagrange Systems With Application to Two-Link Manipulator

机译：网络欧拉-拉格朗日系统的随机抽样共识协议及其在二连杆操纵器中的应用

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摘要

The consensus problem of networked Euler–Lagrange systems is studied in this paper. Different from the continuous-time communication setting, a novel sampled-data communication strategy is proposed, which is more reliable and applicable in practice. In particular, the sampling period is described by a probabilistic model. Furthermore, the communication network burden is lower since only the coordinate information is required to be exchanged. By efficiently utilizing the communication network to transfer the sampled-data information, an advantage of our consensus protocol is that the communication energy consumption can be efficiently reduced. Based on the Lyapunov–Krasovskii method, sufficient conditions are derived to ensure that the consensus can be achieved. Finally, a two-link manipulator example is provided to demonstrate the effectiveness and advantage of our proposed method.
机译：本文研究了网络欧拉-拉格朗日系统的共识问题。不同于连续时间通信设置，提出了一种新颖的采样数据通信策略，该策略更加可靠，在实践中也可以应用。特别地，采样周期由概率模型描述。此外，由于仅需要交换坐标信息，因此通信网络负担较低。通过有效地利用通信网络传输采样数据信息，我们共识协议的优势在于可以有效降低通信能耗。基于Lyapunov–Krasovskii方法，得出了足够的条件以确保可以达成共识。最后，提供了两个链接机械手示例，以演示我们提出的方法的有效性和优势。

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