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Distributed Fixed-time Formation-containment Control for Multiple Euler-Lagrange Systems with Directed Graphs
International Journal of Control, Automation and Systems ( IF 3.2 ) Pub Date : 2020-10-21 , DOI: 10.1007/s12555-020-0106-5 Menghu Hua , Huafeng Ding , Xiang-Yu Yao , Xinxin Zhang
International Journal of Control, Automation and Systems ( IF 3.2 ) Pub Date : 2020-10-21 , DOI: 10.1007/s12555-020-0106-5 Menghu Hua , Huafeng Ding , Xiang-Yu Yao , Xinxin Zhang
In this paper, the distributed fixed-time formation-containment (DFTFC) problem of multiple Euler-Lagrange systems with parametric uncertainties and input disturbances is studied under directed graphs. First, a distributed fixed-time sliding-mode estimator is constructed to estimate the desired states of each robot with that only parts of followers can access the information of leaders. Next, based on the estimator, a distributed fixed-time formation control algorithm is developed to drive leaders to achieve a specified formation. Then, the distributed fixed-time containment control algorithm is proposed for followers with its estimated states being tracked in a fixed time. Note that an explicit upper bound of the convergence time of DFTFC control algorithm is obtained independent of initial conditions. Finally, numerical simulations are performed to show the effectiveness of the obtained theoretical results.
中文翻译:
具有有向图的多欧拉-拉格朗日系统的分布式固定时间地层包容控制
本文在有向图下研究了具有参数不确定性和输入扰动的多个欧拉-拉格朗日系统的分布式固定时间编队遏制(DFTFC)问题。首先,构建分布式固定时间滑模估计器来估计每个机器人的期望状态,只有部分跟随者可以访问领导者的信息。接下来,基于估计器,开发分布式固定时间编队控制算法,以驱动领导者实现指定的编队。然后,针对跟随者提出了分布式固定时间遏制控制算法,其估计状态在固定时间内被跟踪。请注意,DFTFC 控制算法收敛时间的明确上限是独立于初始条件获得的。最后,
更新日期:2020-10-21
中文翻译:
具有有向图的多欧拉-拉格朗日系统的分布式固定时间地层包容控制
本文在有向图下研究了具有参数不确定性和输入扰动的多个欧拉-拉格朗日系统的分布式固定时间编队遏制(DFTFC)问题。首先,构建分布式固定时间滑模估计器来估计每个机器人的期望状态,只有部分跟随者可以访问领导者的信息。接下来,基于估计器,开发分布式固定时间编队控制算法,以驱动领导者实现指定的编队。然后,针对跟随者提出了分布式固定时间遏制控制算法,其估计状态在固定时间内被跟踪。请注意,DFTFC 控制算法收敛时间的明确上限是独立于初始条件获得的。最后,