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Output scaled consensus for heterogeneous robotic systems with aperiodically intermittent communication and transmission delays

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Abstract

This paper investigates the output scaled consensus problem for networked heterogeneous robotic systems (NHRSs) in the presence of aperiodically intermittent communication, time-varying transmission delays, and uncertain dynamic terms. Compared to those traditional results that study scaled consensus, this paper can provide the following advantages and novelty: (i) Due to the interdependence of multidimensional states among individuals in many practical scenarios, this paper is the first to discuss the scaled consensus of matrix-weighted NHRSs. (ii) In this paper, we consider the case where individuals are supposed to aperiodically communicate with each other at some disconnected time intervals, thus the proposed control algorithm guarantees that the output scaled consensus of NHRSs with aperiodically intermittent communication can be achieved. (iii) A novel hierarchical aperiodically intermittent control (HAIC) framework containing two layers is proposed, which allows the considered issue to be solved in two parts and facilitates the design of the control algorithm. Based upon the Lyapunov stability, input-to-state stable property, the nearest neighbor-interactions rules, several sufficient criteria for realizing output scaled consensus are established. Furthermore, the obtained theoretical results will be extended to the case of joint-space scaled consensus for networked robotic systems, which shows the versatility of the HAIC algorithm. Finally, numerical simulation examples are performed to validate the validity of the theoretical results provided.

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Funding

This work was funded by the National Natural Science Foundation of China (62071173) and the Natural Science Foundation of Hubei Province (2022CFB479).

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Authors and Affiliations

  1. School of Mathematics, Southeast University, Nanjing, 210096, China

    Tao Han

  2. School of Electrical Engineering and Automation, Hubei Normal University, Huangshi, 435002, China

    Tao Han, Xiao-Feng Zhao & Bo Xiao

  3. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200237, China

    Huaicheng Yan

Authors
  1. Tao Han
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  2. Xiao-Feng Zhao
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  3. Bo Xiao
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  4. Huaicheng Yan
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Correspondence to Tao Han.

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Han, T., Zhao, XF., Xiao, B. et al. Output scaled consensus for heterogeneous robotic systems with aperiodically intermittent communication and transmission delays. Nonlinear Dyn 111, 22323–22343 (2023). https://doi.org/10.1007/s11071-023-09037-x

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  • DOI: https://doi.org/10.1007/s11071-023-09037-x

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