Consensus of networked euler-lagrange systems under time-varying sampled-data control

This paper is concerned with the consensus of multiple Euler-Lagrange systems with time-varying sampled-data control. Different from traditional sampleddata strategies, a time-varying sampled-data strategy is developed to realize the consensus of multiple Euler- lagrange systems, in which a function that can be distinct at different sampling instants is proposed to modulate the sampling interval. In addition, a new definition of average sampling interval, which is parallel to the average dwell time in switching control or average impulsive interval in impulsive control, is proposed to characterize the number of the updating of the sampling controller during some certain interval. The proposed average sampling interval makes our sampled-data strategy more suitable for a wide range of sampling signals. By utilizing the comparison principle, a sufficient criterion is obtained to guarantee the consensus ofmultiple Euler-Lagrange systems. The sufficient criterion is heavily dependent on the actual control duration time and the communication graph. Finally, a simulation example is presented to verify the applicability of the proposed results