| Autor: |
Chen, Liangliang, Li, Chuanjiang, Sun, Yanchao, Ma, Guangfu |
| Předmět: |
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| Zdroj: |
International Journal of Control; Mar2021, Vol. 94 Issue 3, p698-710, 13p |
| Abstrakt: |
In this paper, the distributed finite-time error constrained tracking control for multiple uncertain Euler-Lagrange systems is investigated under directed topology. We consider that the information of the dynamic leader is available to only a portion of the followers. First, for each follower, the error variable relating to the states of the neighbours is designed. Then, by using backstepping method, a distributed finite-time tracking control algorithm is developed with the neural network being utilizsd to estimate the model uncertainties. A tan-type barrier Lyapunov function is used to guarantee that the error variables will not exceed the prescribed bounds. Finite-time stability of the systems is demonstrated by Lyapunov theory and graph theory. Numerical simulations show the advantages of the proposed control strategy by comparisons with the existing methods. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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