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Finite-Time and Fixed-Time Consensus Tracking of Multiple Euler–Lagrange Systems via Hierarchical Control Approach

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Abstract

In this paper, the finite-time and fixed-time consensus tracking of Euler–Lagrange systems (ELSs) under a directed graph is studied. Firstly, note that the settling time of finite-time consensus tracking (Fin-TCT) is related to the initial values, while the settling time of fixed-time consensus tracking (Fix-TCT) is independent of the initial values. The reason for considering both Fin-TCT and Fix-TCT is to compare them in terms of the settling time. Then, this paper designs the distributed estimated-based hierarchical control algorithms to solve the above problems. By Lyapunov stability analysis, if the coupling gains are properly designed, the Fin-TCT and Fix-TCT of the ELSs with external disturbances can be achieved. Finally, simulation results are presented to demonstrate the feasibility of the developed control algorithms.

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Funding

This work was funded by the National Natural Science Foundation of China (62071173) and the Natural Science Foundation of Hubei Province (2022CFB479).

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Authors and Affiliations

  1. School of Electrical Engineering and Automation, Hubei Normal University, Huangshi, 435000, China

    Jiao Pan, Tao Han & Bo Xiao

  2. School of Electrical Engineering and Automation, East China University of Science and Technology, Shanghai, 200000, China

    Huaicheng Yan

Authors
  1. Jiao Pan
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  2. Tao Han
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  3. Bo Xiao
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  4. Huaicheng Yan
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Correspondence to Tao Han.

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Pan, J., Han, T., Xiao, B. et al. Finite-Time and Fixed-Time Consensus Tracking of Multiple Euler–Lagrange Systems via Hierarchical Control Approach. Circuits Syst Signal Process 42, 7167–7193 (2023). https://doi.org/10.1007/s00034-023-02464-6

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