A Stochastic Sampling Consensus Protocol of Networked Euler–Lagrange Systems With Application to Two-Link Manipulator

Abstract

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.