Coordination of a Class of Underactuated Systems via Sampled-Data-Based Event-Triggered Schemes
研究了能量和带宽受限下欠驱动系统的协调控制，提出基于采样数据的事件触发和量化方案，减少控制与通信负载，并排除Zeno行为。
This article investigates the coordination of a class of underactuated systems subject to limited energy supply and channel bandwidth and aims to stabilize system states and exclude Zeno behaviors simultaneously. First, by means of event-triggered (E-T) and quantized techniques, several novel quantized sampled-data-based E-T schemes are constructed, which only require discrete-time controller updates and partial quantized states, and thus efficiently mitigate the control and communication workloads. Then, in order to further lower the communication consumptions, several new triggered sampled-data-based communication rules under fixed and switched networks are established, where the communications are performed only at some specific instants and, thus, the ideally continuous-time signal transmission among neighbors can be avoided. Note that sufficient criteria for achieving the coordination of the underactuated systems are derived in terms of the Lyapunov–Krasovskii functional method. Finally, numerous simulations are carried out to demonstrate the effectiveness of the theoretical results.