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arXiv · 1505.01246

On the Synchronization of Second-Order Nonlinear Systems with Communication Constraints

Abdelkader Abdessameud·Ilia G. Polushin·Abdelhamid Tayebi
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Abstract

This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer all systems' positions to a common position with a prescribed desired velocity available to only some leaders. Based on the small-gain framework, we propose a synchronization scheme relying on an intermittent information exchange protocol in the presence of time delays and possible packet dropout. We show that our control objectives are achieved with a simple selection of the control gains provided that the directed graph, describing the interconnection between all systems (or agents), contains a spanning tree. The example of Euler-Lagrange systems is considered to illustrate the application and effectiveness of the proposed approach.

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Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi. 2015-05-06. On the Synchronization of Second-Order Nonlinear Systems with Communication Constraints. https://arxiv.org/abs/1505.01246

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