Hierarchical predefined-time control for time-varying formation tracking of multiple heterogeneous Euler–Lagrange agents
| Autor: | Jiu-Wang Dong, Ming-Feng Ge, Chang-Duo Liang, Kai-Lun Huang, Xiao-Wen Zhao |
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| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
Computer science Applied Mathematics Mechanical Engineering Aerospace Engineering Estimator Ocean Engineering Topology (electrical circuits) Tracking (particle physics) symbols.namesake Control and Systems Engineering Control theory Convergence (routing) symbols Electrical and Electronic Engineering Time base generator Parametric statistics |
| Zdroj: | Nonlinear Dynamics. 105:3255-3270 |
| ISSN: | 1573-269X 0924-090X |
| DOI: | 10.1007/s11071-021-06792-7 |
| Popis: | This paper investigates the time-varying formation tracking (TVFT) problem of multiple heterogeneous Euler–Lagrange agents (MHELAs) with predefined-time convergence ability under directed interaction topology, where both the parametric uncertainties and external disturbances are taken into account. A new predefined-time hierarchical control (PTHC) algorithm is designed to solve the aforementioned challenging problem. Specifically, the TBG-based distributed estimator algorithm utilizing the time base generator (TBG) is firstly designed to estimate the states of the virtual leader in a predefined time. Besides, based on the obtained estimators, the predefined-time controller is presented to accomplish the robust time-varying formation tracking of the MHELAs in the local control layer. By employing the Lyapunov and Lagrange stability theory, the sufficient conditions for achieving the desired performance of the MHELAs are derived. Eventually, numerical simulations are performed to illustrate that the aforementioned theoretical results for MHELAs are effective. |
| Databáze: | OpenAIRE |
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