期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 52, 期 6, 页码 4611-4622出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2020.3031887
关键词
Synchronization; Decentralized control; Topology; Symmetric matrices; Directed graphs; Protocols; Network topology; Containment control; directed network; distributed fixed-time control; Euler-Lagrange system; leadless synchronization control
类别
资金
- National Key Research and Development Program of China [2017YFB13010000, 2018AAA0102703]
- National Natural Science Foundation of China [U1713223, 61673026]
This study investigates the fixed-time distributed coordination control for multiple Euler-Lagrange systems and proposes solutions for containment control with stationary/dynamic leaders as well as leaderless synchronization control. By applying fixed-time stability theory, three fixed-time distributed control schemes are designed, and the convergence time and settling time are explicitly derived.
This work investigates the fixed-time distributed coordination control for multiple Euler-Lagrange systems and, in particular, addresses containment control with stationary/dynamic leaders as well as leaderless synchronization control. For the containment control scenario with stationary leaders, the subgraph associated with followers is directed. When dynamic leaders are involved, the information transfer between neighboring followers is bidirectional, for which a novel distributed estimator is developed. For the leaderless synchronization control scenario, the communication network among agents is unidirectional. Three fixed-time distributed control schemes are designed for the aforementioned three cases by applying the fixed-time stability theory. The convergence of the coordination control objectives can be achieved in a fixed time that does not depend on any initial conditions of agents' states, and the settling times are also explicitly derived. Finally, numerical simulations are presented to demonstrate the feasibility of the developed control strategies.
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