期刊
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
卷 69, 期 12, 页码 4989-4993出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSII.2022.3189356
关键词
Bipartite consensus; Euler-Lagrange systems; predefined-time consensus; sliding-mode control
资金
- National Natural Science Foundation of China [61773185, 61877030]
- Postgraduate Research and Practice Innovation Program of Jiangsu Normal University [2021XKT1401]
This brief investigates the predefined-time bipartite consensus of multiple Euler-Lagrange systems with a dynamic leader. A new distributed predefined-time observer is added to estimate the desired velocity of each follower. Then, a new sliding surface and a distributed protocol are constructed to guarantee the networked systems achieve the bipartite consensus within a predefined time. The effectiveness of the new designs is verified through a numerical example with two-link robot arms.
This brief investigates the predefined-time bipartite consensus of multiple Euler-Lagrange systems with a dynamic leader. A new distributed predefined-time observer is added to estimate the desired velocity of each follower. Then, a new sliding surface and a distributed protocol are constructed to guarantee the networked systems achieve the bipartite consensus within a predefined time. It should be pointed out that, all the observing time, sliding time and reaching time can be preset in advance according to the task requirements. One numerical example with two-link robot arms is proposed to verify the effectiveness of the new designs.
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