Distributed consensus of a class of networked nonlinear systems by non-uniform sampling with probabilistic transmission delays and its application to two-link manipulators

Abstract

This paper investigates the primary problem of distributed consensus for Euler–Lagrange systems networked by using non-uniform sampling information with probabilistic transmission delay. In a real-world application, the information is likely to be exchanged in a discrete-time interval manner. Employing sampled-data information can save the energy cost and reduce the communication network burden. For the reasons given above, sampling control is applied in this paper. Meanwhile, we focus on the study of non-uniform sampling information exchanges in the communication network which is described in this paper. In order to verify the distributed consensus of Euler–Lagrange systems, matrix theory, algebraic graph theory and Lyapunov stability theory are applied. A distinctive feature of this paper is that the transmission delay is defined as the probability of time-varying delay. A numerical simulation is given to demonstrate the benefits and effectiveness of the proposed schemes.