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Distributed optimal coordination for Euler-Lagrange systems with input dead-zone
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DOI：10.1016/j.sysconle.2026.106376.png)
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Abstract
En 中文
This paper investigates a distributed optimal coordination problem in which the agents exhibit Euler-Lagrange (EL) dynamics with input dead-zone nonlinearities. For the purpose of resolving this problem, this paper proposes a new distributed control algorithm that integrates a dynamic dead-zone compensator. As a fast subsystem, the compensating dynamics can be used to compensate for input dead-zone effects. The other subsystem, functioning as a slow optimization module, guarantees EL agents to coordinately achieve the global optimal solution. Due to the two-time-scale model of the proposed strategy, the generalized singular perturbation method is leveraged to achieve semi-global practical asymptotic stability of this algorithm. To validate these theoretical findings, an example of source localization is provided.
Keywords:
Distributed optimization
Input dead-zone
Euler-Lagrange systems
Fast compensating mechanism
Generalized singular perturbation