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Task-space multiple-bipartite consensus for networked heterogeneous Euler–Lagrange systems via hierarchical predefined-time control algorithm

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Abstract

This paper investigates the predefined-time multiple-bipartite consensus (MBC) problem for networked heterogeneous Euler–Lagrange systems (NH ELSs) with external disturbances in the task space. Firstly, the concept of the MBC for the NHELSs is given by combining the collective behavior evolution of the bipartite consensus and the group/cluster consensus. Then, in order to handle the foregoing issue, this paper proposes the hierarchical predefined-time control (HPTC) algorithm. It is worth noting that the settling time can be randomly predetermined according to practical demands. Subsequently, by Lyapunov stability analysis, the corresponding sufficient conditions for fulfilling the predefined-time MBC in task space are derived. Eventually, simulation experiments are performed, which vividly reflect the feasibility of the proposed control algorithm.

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Funding

This work was funded by the National Natural Science Foundation of China (62071173, 62072164) 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, 435002, China

    Jiao Pan, Tao Han & Bo Xiao

  2. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200237, China

    Huaicheng Yan

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  1. Jiao Pan
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  2. Tao Han
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Correspondence to Tao Han.

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Pan, J., Han, T., Xiao, B. et al. Task-space multiple-bipartite consensus for networked heterogeneous Euler–Lagrange systems via hierarchical predefined-time control algorithm. Nonlinear Dyn 111, 17095–17108 (2023). https://doi.org/10.1007/s11071-023-08730-1

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