Predefined-Time Bipartite Time-Varying Formation Tracking of Multiple Euler-Lagrange Systems via Estimator-Based Hierarchical Control Algorithm

被引：14

作者：

Pan, Jiao ^{[1
]}

Han, Tao ^{[1
]}

Xiao, Bo ^{[1
]}

Zhan, Xi-Sheng ^{[1
]}

Yan, Huaicheng ^{[2
]}

机构：

[1] Hubei Normal Univ, Sch Elect Engn & Automat, Huangshi 435002, Hubei, Peoples R China

[2] East China Univ Sci & Technol, Sch Informat Sci & Engn, Shanghai 200237, Peoples R China

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2023年 / 70卷 / 09期

基金：

中国国家自然科学基金;

关键词：

Euler-Lagrange systems (ELSs); predefined-time bipartite time-varying formation tracking (PTBTVFT); estimator-based hierarchical control (EBHC); NONLINEAR MULTIAGENT SYSTEMS; CONSENSUS;

D O I：

10.1109/TCSII.2023.3262963

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This brief investigates the predefined-time bipartite time-varying formation tracking (PTBTVFT) problem of Euler-Lagrange systems (ELSs) with external disturbances under a signed digraph, where the directed topology contains cooperative and antagonistic interactions. Firstly, estimator-based hierarchical control (EBHC) algorithm is proposed to handle the above problem. It is worth noting that the settling time can be randomly predetermined according to practical demands. Then, by Lyapunov stability analysis, some sufficient conditions are derived for the realization of the PTBTVFT. Finally, simulation experiments are performed to confirm the feasibility of the developed control strategy.

引用

页码：3444 / 3448

页数：5

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