Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 48, Issue 11, Pages 1920-1928Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2774251
Keywords
Euler-Lagrange system; external disturbance; finite-time leader-follower consensus; L-2 stability
Funding
- National Key Research and Development Program of China [2016YFB0303401]
- National Natural Science Foundation of China [61773163]
- Fundamental Research Funds for Central Universities [222201717006]
- Young Elite Scientists Sponsorship Program by CAST [2016QNRC001]
- Natural Science Foundation of Shanghai [17ZR1444600]
- 111 Project [B17017]
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This paper is concerned with finite-time L-2 leader-follower consensus of networked Euler-Lagrange systems in the presence of external disturbances. A distributed finite-time L-2 control protocol is proposed by using backstepping design such that a group of follower agents modeled by Euler-Lagrange systems can follow a desired leader agent and achieve leader-follower consensus in finite time. Moreover, the finite-time L-2 gain is less than or equal to a prescribed value. A simulation example of a network composed of seven two-link manipulators is given to show the effectiveness of the theoretical results.
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