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.