控制理论(社会学)
终端滑动模式
数学
奇点
可达性
观察员(物理)
滑模控制
有界函数
计算机科学
控制(管理)
非线性系统
算法
数学分析
量子力学
物理
人工智能
作者
Xinchen Guo,Guoliang Wei
标识
DOI:10.1016/j.jfranklin.2023.04.026
摘要
This paper focuses on the fixed-time leader-following consensus problem for multiple Euler–Lagrange (EL) systems via non-singular terminal sliding mode control under a directed graph. Firstly, for each EL system, a local fixed-time disturbance observer is introduced to estimate the compound disturbance (including uncertain parameters and external disturbances) within a fixed time under the assumption that the disturbance is bounded. Next, a distributed fixed-time observer is designed to estimate the leader’s position and velocity, and the consensus problem is transformed into a local tracking problem by introducing such an observer. On the basis of the two types of observers designed, a novel non-singular terminal sliding surface is proposed to guarantee that the tracking errors on the sliding surface converge to zero within a fixed time. Furthermore, the presented control algorithm also ensures the fixed-time reachability of the sliding surface, while avoiding the singularity problem. Finally, the effectiveness of the proposed observers and control protocol is further verified by a numerical simulation.
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