Fixed-time synchronization of networked uncertain Euler–Lagrange systems

Title: Fixed-time synchronization of networked uncertain Euler–Lagrange systems
Creator: Dong, Yi; Chen, Zhiyong
Relation: Automatica Vol. 146, Issue December 2022, no. 110571
Publisher Link: http://dx.doi.org/10.1016/j.automatica.2022.110571
Publisher: Elsevier
Resource Type: journal article
Date: 2022
Description: This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler–Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time observer is first proposed to estimate the desired trajectory and then a fixed-time robust controller is constructed by transforming uncertain Euler–Lagrange systems into second-order systems and utilizing the backstepping design procedure. The overall design guarantees that the synchronization errors converge to zero in a fixed time independent of initial conditions. The control design conditions can also be relaxed for a weaker finite-time control requirement.
Subject: fixed-time control; finite-time control; multi-agent systems; Euler-Lagrange systems; directed graph
Identifier: http://hdl.handle.net/1959.13/1488433
Identifier: uon:52441
Identifier: ISSN:0005-1098
Language: eng
Reviewed

		Thumbnail	File	Description	Size	Format