Finite-Time and Fixed-Time Consensus Tracking of Multiple Euler–Lagrange Systems via Hierarchical Control Approach

被引：0
作者：
Jiao Pan
Tao Han
Bo Xiao
Huaicheng Yan
机构：
[1] Hubei Normal University,School of Electrical Engineering and Automation
[2] East China University of Science and Technology,School of Electrical Engineering and Automation
来源：
Circuits, Systems, and Signal Processing | 2023年 / 42卷
关键词：
Euler–Lagrange systems (ELSs); Hierarchical control; Finite-time consensus tracking (Fin-TCT); Fixed-time consensus tracking (Fix-TCT);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, the finite-time and fixed-time consensus tracking of Euler–Lagrange systems (ELSs) under a directed graph is studied. Firstly, note that the settling time of finite-time consensus tracking (Fin-TCT) is related to the initial values, while the settling time of fixed-time consensus tracking (Fix-TCT) is independent of the initial values. The reason for considering both Fin-TCT and Fix-TCT is to compare them in terms of the settling time. Then, this paper designs the distributed estimated-based hierarchical control algorithms to solve the above problems. By Lyapunov stability analysis, if the coupling gains are properly designed, the Fin-TCT and Fix-TCT of the ELSs with external disturbances can be achieved. Finally, simulation results are presented to demonstrate the feasibility of the developed control algorithms.
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页码：7167 / 7193
页数：26
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